Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / kernel / ao_kalman.c

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index f93f5aba94f1daa17d2830d7ce42969e6617111e..5f32eb7275de8357d8bb50a80680644dee4817e9 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -61,14 +61,14 @@ static void
 ao_kalman_predict(void)
 {
 #ifdef AO_FLIGHT_TEST
-       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
+       if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 50) {
                ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 +
                                (ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
                ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1;
 
                return;
        }
-       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
+       if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 5) {
                ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 +
                                (ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
                ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10;
@@ -149,13 +149,13 @@ ao_kalman_correct_baro(void)
 {
        ao_kalman_err_height();
 #ifdef AO_FLIGHT_TEST
-       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
+       if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 50) {
                ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h;
                ao_k_speed  += (ao_k_t) AO_BARO_K1_1 * ao_error_h;
                ao_k_accel  += (ao_k_t) AO_BARO_K2_1 * ao_error_h;
                return;
        }
-       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
+       if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 5) {
                ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h;
                ao_k_speed  += (ao_k_t) AO_BARO_K1_10 * ao_error_h;
                ao_k_accel  += (ao_k_t) AO_BARO_K2_10 * ao_error_h;
@@ -178,7 +178,7 @@ ao_kalman_err_accel(void)
        accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
 
        /* Can't use ao_accel here as it is the pre-prediction value still */
-       ao_error_a = (accel - ao_k_accel) >> 16;
+       ao_error_a = (ao_v_t) ((accel - ao_k_accel) >> 16);
 }
 
 #if !defined(FORCE_ACCEL) && HAS_BARO
@@ -189,7 +189,7 @@ ao_kalman_correct_both(void)
        ao_kalman_err_accel();
 
 #ifdef AO_FLIGHT_TEST
-       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
+       if ((AO_TICK_SIGNED) (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),
@@ -210,7 +210,7 @@ ao_kalman_correct_both(void)
                        (ao_k_t) AO_BOTH_K21_1 * ao_error_a;
                return;
        }
-       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
+       if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 5) {
                if (ao_flight_debug) {
                        printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
                                ao_k_speed / (65536.0 * 16.0),
@@ -260,7 +260,7 @@ ao_kalman_correct_accel(void)
        ao_kalman_err_accel();
 
 #ifdef AO_FLIGHT_TEST
-       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
+       if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 5) {
                ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a;
                ao_k_speed  += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a;
                ao_k_accel  += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a;
@@ -314,9 +314,9 @@ ao_kalman(void)
        ao_kalman_correct_accel();
 #endif
 #endif
-       ao_height = from_fix(ao_k_height);
-       ao_speed = from_fix(ao_k_speed);
-       ao_accel = from_fix(ao_k_accel);
+       ao_height = (ao_v_t) from_fix(ao_k_height);
+       ao_speed = (ao_v_t) from_fix(ao_k_speed);
+       ao_accel = (ao_v_t) from_fix(ao_k_accel);
        if (ao_height > ao_max_height)
                ao_max_height = ao_height;
 #if HAS_BARO
@@ -325,11 +325,11 @@ ao_kalman(void)
        ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_height;
 #endif
 #ifdef AO_FLIGHT_TEST
-       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50)
+       if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 50)
                ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
-       else if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5)
+       else if ((AO_TICK_SIGNED) (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;
+               ao_avg_height = (ao_v_t) ((ao_avg_height_scaled + 63) >> 7);
 }