altos: Send SPI message at flight state changes

[fw/altos] / src / ao_kalman.c

diff --git a/src/ao_kalman.c b/src/ao_kalman.c
index ee99f375635c0f05f1c2c4b64ce946e2b44a92ba..203d727a07f4d837551539b74e9feb7a89e32f47 100644 (file)
--- a/src/ao_kalman.c
+++ b/src/ao_kalman.c
@@ -31,10 +31,15 @@ static __pdata int32_t              ao_k_accel;
 #define AO_K_STEP_10           to_fix16(0.1)
 #define AO_K_STEP_2_2_10       to_fix16(0.005)
 
+#define AO_K_STEP_1            to_fix16(1)
+#define AO_K_STEP_2_2_1                to_fix16(0.5)
+
 __pdata int16_t                        ao_height;
 __pdata int16_t                        ao_speed;
 __pdata int16_t                        ao_accel;
 __pdata int16_t                        ao_max_height;
+static __pdata int32_t         ao_avg_height_scaled;
+__pdata int16_t                        ao_avg_height;
 
 __pdata int16_t                        ao_error_h;
 __pdata int16_t                        ao_error_h_sq_avg;
@@ -47,6 +52,13 @@ static void
 ao_kalman_predict(void)
 {
 #ifdef AO_FLIGHT_TEST
+       if (ao_sample_tick - ao_sample_prev_tick > 50) {
+               ao_k_height += ((int32_t) ao_speed * AO_K_STEP_1 +
+                               (int32_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
+               ao_k_speed += (int32_t) ao_accel * AO_K_STEP_1;
+
+               return;
+       }
        if (ao_sample_tick - ao_sample_prev_tick > 5) {
                ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 +
                                (int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
@@ -89,7 +101,9 @@ ao_kalman_err_height(void)
        ao_error_h_sq_avg += (e * e) >> 4;
 #endif
 
-       height_distrust = ao_sample_height - AO_MAX_BARO_HEIGHT;
+       if (ao_flight_state >= ao_flight_drogue)
+               return;
+       height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
 #if HAS_ACCEL
        /* speed is stored * 16, but we need to ramp between 200 and 328, so
         * we want to multiply by 2. The result is a shift by 3.
@@ -100,10 +114,7 @@ ao_kalman_err_height(void)
        else if (speed_distrust > height_distrust)
                height_distrust = speed_distrust;
 #endif
-       if (height_distrust <= 0)
-               height_distrust = 0;
-
-       if (height_distrust) {
+       if (height_distrust > 0) {
 #ifdef AO_FLIGHT_TEST
                int     old_ao_error_h = ao_error_h;
 #endif
@@ -113,7 +124,7 @@ ao_kalman_err_height(void)
 #ifdef AO_FLIGHT_TEST
                if (ao_flight_debug) {
                        printf("over height %g over speed %g distrust: %g height: error %d -> %d\n",
-                              (double) (ao_sample_height - AO_MAX_BARO_HEIGHT),
+                              (double) (ao_sample_alt - AO_MAX_BARO_HEIGHT),
                               (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) / 16.0,
                               height_distrust / 256.0,
                               old_ao_error_h, ao_error_h);
@@ -127,6 +138,12 @@ ao_kalman_correct_baro(void)
 {
        ao_kalman_err_height();
 #ifdef AO_FLIGHT_TEST
+       if (ao_sample_tick - ao_sample_prev_tick > 50) {
+               ao_k_height += (int32_t) AO_BARO_K0_1 * ao_error_h;
+               ao_k_speed  += (int32_t) AO_BARO_K1_1 * ao_error_h;
+               ao_k_accel  += (int32_t) AO_BARO_K2_1 * ao_error_h;
+               return;
+       }
        if (ao_sample_tick - ao_sample_prev_tick > 5) {
                ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h;
                ao_k_speed  += (int32_t) AO_BARO_K1_10 * ao_error_h;
@@ -159,6 +176,27 @@ ao_kalman_correct_both(void)
        ao_kalman_err_accel();
 
 #ifdef AO_FLIGHT_TEST
+       if (ao_sample_tick - ao_sample_prev_tick > 50) {
+               if (ao_flight_debug) {
+                       printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
+                               ao_k_speed / (65536.0 * 16.0),
+                               (double) ao_error_h, AO_BOTH_K10_1 / 65536.0,
+                               (double) ao_error_a, AO_BOTH_K11_1 / 65536.0,
+                               (ao_k_speed +
+                                (int32_t) AO_BOTH_K10_1 * ao_error_h +
+                                (int32_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0));
+               }
+               ao_k_height +=
+                       (int32_t) AO_BOTH_K00_1 * ao_error_h +
+                       (int32_t) AO_BOTH_K01_1 * ao_error_a;
+               ao_k_speed +=
+                       (int32_t) AO_BOTH_K10_1 * ao_error_h +
+                       (int32_t) AO_BOTH_K11_1 * ao_error_a;
+               ao_k_accel +=
+                       (int32_t) AO_BOTH_K20_1 * ao_error_h +
+                       (int32_t) AO_BOTH_K21_1 * ao_error_a;
+               return;
+       }
        if (ao_sample_tick - ao_sample_prev_tick > 5) {
                if (ao_flight_debug) {
                        printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
@@ -239,6 +277,15 @@ ao_kalman(void)
        ao_accel = from_fix(ao_k_accel);
        if (ao_height > ao_max_height)
                ao_max_height = ao_height;
+       ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_height;
+#ifdef AO_FLIGHT_TEST
+       if (ao_sample_tick - ao_sample_prev_tick > 50)
+               ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
+       else if (ao_sample_tick - ao_sample_prev_tick > 5)
+               ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
+       else 
+#endif
+               ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
 #ifdef AO_FLIGHT_TEST
        ao_sample_prev_tick = ao_sample_tick;
 #endif