altos: Allow accel-only flight code

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

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 4f4ffe8f1b6a813b532cd4fe751ed6d684f34b6b..aaf0595f01ab7d5e345ab5997983386f78bd4c1e 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -86,6 +86,7 @@ ao_kalman_predict(void)
        ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_100;
 }
 
+#if HAS_BARO
 static void
 ao_kalman_err_height(void)
 {
@@ -140,7 +141,9 @@ ao_kalman_err_height(void)
 #endif
        }
 }
+#endif
 
+#if HAS_BARO
 static void
 ao_kalman_correct_baro(void)
 {
@@ -163,6 +166,7 @@ ao_kalman_correct_baro(void)
        ao_k_speed  += (ao_k_t) AO_BARO_K1_100 * ao_error_h;
        ao_k_accel  += (ao_k_t) AO_BARO_K2_100 * ao_error_h;
 }
+#endif
 
 #if HAS_ACCEL
 
@@ -177,7 +181,7 @@ ao_kalman_err_accel(void)
        ao_error_a = (accel - ao_k_accel) >> 16;
 }
 
-#ifndef FORCE_ACCEL
+#if !defined(FORCE_ACCEL) && HAS_BARO
 static void
 ao_kalman_correct_both(void)
 {
@@ -255,12 +259,14 @@ ao_kalman_correct_accel(void)
 {
        ao_kalman_err_accel();
 
+#ifdef AO_FLIGHT_TEST
        if ((int16_t) (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;
                return;
        }
+#endif
        ao_k_height += (ao_k_t) AO_ACCEL_K0_100 * ao_error_a;
        ao_k_speed  += (ao_k_t) AO_ACCEL_K1_100 * ao_error_a;
        ao_k_accel  += (ao_k_t) AO_ACCEL_K2_100 * ao_error_a;
@@ -273,6 +279,7 @@ void
 ao_kalman(void)
 {
        ao_kalman_predict();
+#if HAS_BARO
 #if HAS_ACCEL
        if (ao_flight_state <= ao_flight_coast) {
 #ifdef FORCE_ACCEL
@@ -283,12 +290,21 @@ ao_kalman(void)
        } else
 #endif
                ao_kalman_correct_baro();
+#else
+#if HAS_ACCEL
+       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);
        if (ao_height > ao_max_height)
                ao_max_height = ao_height;
+#if HAS_BARO
        ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
+#else
+       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)
                ao_avg_height = (ao_avg_height_scaled + 1) >> 1;