altos/kalman: Kalman terms can be > 1, use 32-bit fixed point

[fw/altos] / src / kalman / kalman.5c

diff --git a/src/kalman/kalman.5c b/src/kalman/kalman.5c
index f734718413f8233c69cd5a58574a6c76c61a8756..cfb7abea4ff1435fe8c666433f9455081f014735 100755 (executable)
--- a/src/kalman/kalman.5c
+++ b/src/kalman/kalman.5c
@@ -460,19 +460,17 @@ void main() {
                mat_t k = converge(param);
                int[] d = dims(k);
                int time_inc = floor(1/time_step + 0.5);
-               if (d[1] == 2) {
-                       for (int i = 0; i < d[0]; i++)
-                               for (int j = 0; j < d[1]; j++)
-                                       printf ("#define %s_K%d%d_%d to_fix16(%12.10f)\n",
-                                               prefix, i, j, time_inc, k[i,j]);
-               } else {
-                       for (int i = 0; i < d[0]; i++) {
-                               printf ("#define %s_K%d_%d to_fix16(%12.10f)\n",
-                                       prefix, i, time_inc, k[i,0]);
+               for (int i = 0; i < d[0]; i++)
+                       for (int j = 0; j < d[1]; j++) {
+                               string name;
+                               if (d[1] == 1)
+                                       name = sprintf("%s_K%d_%d", prefix, i, time_inc);
+                               else
+                                       name = sprintf("%s_K%d%d_%d", prefix, i, j, time_inc);
+                               printf ("#define %s to_fix32(%12.10f)\n", name, k[i,j]);
                        }
-               }
                printf ("\n");
-               return;
+               exit(0);
        }
        string[dim(argv) - user_argind] rest = { [i] = argv[i+user_argind] };