altos: Average height values for landing detection

[fw/altos] / src / ao_kalman.c

diff --git a/src/ao_kalman.c b/src/ao_kalman.c
index 4e6cbb06c332561939589935aea4da8c65022d46..ab97fc34b91db0673812d7fccd4f77bff11a3742 100644 (file)
--- a/src/ao_kalman.c
+++ b/src/ao_kalman.c
@@ -38,6 +38,8 @@ __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;
@@ -275,6 +277,18 @@ ao_kalman(void)
        ao_accel = from_fix(ao_k_accel);
        if (ao_height > ao_max_height)
                ao_max_height = ao_height;
+#ifdef AO_FLIGHT_TEST
+       if (ao_sample_tick - ao_sample_prev_tick > 50) {
+               ao_avg_height = ao_height;
+       } else if (ao_sample_tick - ao_sample_prev_tick > 5) {
+               ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_height;
+               ao_avg_height = (ao_avg_height_scaled + 3) >> 2;
+       } else 
+#endif
+       {
+               ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_height;
+               ao_avg_height = (ao_avg_height_scaled + 15) >> 5;
+       }
 #ifdef AO_FLIGHT_TEST
        ao_sample_prev_tick = ao_sample_tick;
 #endif