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altos: Use 32-bits for flight state data (alt/speed/accel)
[fw/altos] / src / kernel / ao_kalman.c
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 9aea1f14762f6139d9fb8dce932b98a6c946068d..7b0f8145d807ce74bd5db66c0d23408251a8d745 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -23,32 +23,31 @@
 #include "ao_sample.h"
 #include "ao_kalman.h"
 
+static __pdata ao_k_t          ao_k_height;
+static __pdata ao_k_t          ao_k_speed;
+static __pdata ao_k_t          ao_k_accel;
 
-static __pdata int32_t         ao_k_height;
-static __pdata int32_t         ao_k_speed;
-static __pdata int32_t         ao_k_accel;
+#define AO_K_STEP_100          to_fix_v(0.01)
+#define AO_K_STEP_2_2_100      to_fix_v(0.00005)
 
-#define AO_K_STEP_100          to_fix16(0.01)
-#define AO_K_STEP_2_2_100      to_fix16(0.00005)
+#define AO_K_STEP_10           to_fix_v(0.1)
+#define AO_K_STEP_2_2_10       to_fix_v(0.005)
 
-#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_fix_v(1)
+#define AO_K_STEP_2_2_1                to_fix_v(0.5)
 
-#define AO_K_STEP_1            to_fix16(1)
-#define AO_K_STEP_2_2_1                to_fix16(0.5)
+__pdata ao_v_t                 ao_height;
+__pdata ao_v_t                 ao_speed;
+__pdata ao_v_t                 ao_accel;
+__xdata ao_v_t                 ao_max_height;
+static __pdata ao_k_t          ao_avg_height_scaled;
+__xdata ao_v_t                 ao_avg_height;
 
-__pdata int16_t                        ao_height;
-__pdata int16_t                        ao_speed;
-__pdata int16_t                        ao_accel;
-__xdata int16_t                        ao_max_height;
-static __pdata int32_t         ao_avg_height_scaled;
-__xdata int16_t                        ao_avg_height;
-
-__pdata int16_t                        ao_error_h;
-__pdata int16_t                        ao_error_h_sq_avg;
+__pdata ao_v_t                 ao_error_h;
+__pdata ao_v_t                 ao_error_h_sq_avg;
 
 #if HAS_ACCEL
-__pdata int16_t                        ao_error_a;
+__pdata ao_v_t                 ao_error_a;
 #endif
 
 static void
@@ -56,40 +55,40 @@ 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;
+               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 (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;
-               ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10;
+               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;
 
                return;
        }
        if (ao_flight_debug) {
                printf ("predict speed %g + (%g * %g) = %g\n",
                        ao_k_speed / (65536.0 * 16.0), ao_accel / 16.0, AO_K_STEP_100 / 65536.0,
-                       (ao_k_speed + (int32_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
+                       (ao_k_speed + (ao_k_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
        }
 #endif
-       ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
-                       (int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
-       ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100;
+       ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_100 +
+                       (ao_k_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
+       ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_100;
 }
 
 static void
 ao_kalman_err_height(void)
 {
-       int16_t e;
-       int16_t height_distrust;
+       ao_v_t  e;
+       ao_v_t height_distrust;
 #if HAS_ACCEL
-       int16_t speed_distrust;
+       ao_v_t  speed_distrust;
 #endif
 
-       ao_error_h = ao_sample_height - (int16_t) (ao_k_height >> 16);
+       ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
 
        e = ao_error_h;
        if (e < 0)
@@ -123,7 +122,7 @@ ao_kalman_err_height(void)
 #endif
                if (height_distrust > 0x100)
                        height_distrust = 0x100;
-               ao_error_h = (int16_t) (((int32_t) ao_error_h * (0x100 - height_distrust)) >> 8);
+               ao_error_h = (ao_v_t) (((ao_k_t) ao_error_h * (0x100 - height_distrust)) >> 8);
 #ifdef AO_FLIGHT_TEST
                if (ao_flight_debug) {
                        printf("over height %g over speed %g distrust: %g height: error %d -> %d\n",
@@ -142,21 +141,21 @@ 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;
+               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 (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;
-               ao_k_accel  += (int32_t) AO_BARO_K2_10 * ao_error_h;
+               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;
                return;
        }
 #endif
-       ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h;
-       ao_k_speed  += (int32_t) AO_BARO_K1_100 * ao_error_h;
-       ao_k_accel  += (int32_t) AO_BARO_K2_100 * ao_error_h;
+       ao_k_height += (ao_k_t) AO_BARO_K0_100 * ao_error_h;
+       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;
 }
 
 #if HAS_ACCEL
@@ -164,7 +163,7 @@ ao_kalman_correct_baro(void)
 static void
 ao_kalman_err_accel(void)
 {
-       int32_t accel;
+       ao_k_t  accel;
 
        accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
 
@@ -187,18 +186,18 @@ ao_kalman_correct_both(void)
                                (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_t) AO_BOTH_K10_1 * ao_error_h +
+                                (ao_k_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_t) AO_BOTH_K00_1 * ao_error_h +
+                       (ao_k_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_t) AO_BOTH_K10_1 * ao_error_h +
+                       (ao_k_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;
+                       (ao_k_t) AO_BOTH_K20_1 * ao_error_h +
+                       (ao_k_t) AO_BOTH_K21_1 * ao_error_a;
                return;
        }
        if (ao_sample_tick - ao_sample_prev_tick > 5) {
@@ -208,18 +207,18 @@ ao_kalman_correct_both(void)
                                (double) ao_error_h, AO_BOTH_K10_10 / 65536.0,
                                (double) ao_error_a, AO_BOTH_K11_10 / 65536.0,
                                (ao_k_speed +
-                                (int32_t) AO_BOTH_K10_10 * ao_error_h +
-                                (int32_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
+                                (ao_k_t) AO_BOTH_K10_10 * ao_error_h +
+                                (ao_k_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
                }
                ao_k_height +=
-                       (int32_t) AO_BOTH_K00_10 * ao_error_h +
-                       (int32_t) AO_BOTH_K01_10 * ao_error_a;
+                       (ao_k_t) AO_BOTH_K00_10 * ao_error_h +
+                       (ao_k_t) AO_BOTH_K01_10 * ao_error_a;
                ao_k_speed +=
-                       (int32_t) AO_BOTH_K10_10 * ao_error_h +
-                       (int32_t) AO_BOTH_K11_10 * ao_error_a;
+                       (ao_k_t) AO_BOTH_K10_10 * ao_error_h +
+                       (ao_k_t) AO_BOTH_K11_10 * ao_error_a;
                ao_k_accel +=
-                       (int32_t) AO_BOTH_K20_10 * ao_error_h +
-                       (int32_t) AO_BOTH_K21_10 * ao_error_a;
+                       (ao_k_t) AO_BOTH_K20_10 * ao_error_h +
+                       (ao_k_t) AO_BOTH_K21_10 * ao_error_a;
                return;
        }
        if (ao_flight_debug) {
@@ -228,19 +227,19 @@ ao_kalman_correct_both(void)
                        (double) ao_error_h, AO_BOTH_K10_100 / 65536.0,
                        (double) ao_error_a, AO_BOTH_K11_100 / 65536.0,
                        (ao_k_speed +
-                        (int32_t) AO_BOTH_K10_100 * ao_error_h +
-                        (int32_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
+                        (ao_k_t) AO_BOTH_K10_100 * ao_error_h +
+                        (ao_k_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
        }
 #endif
        ao_k_height +=
-               (int32_t) AO_BOTH_K00_100 * ao_error_h +
-               (int32_t) AO_BOTH_K01_100 * ao_error_a;
+               (ao_k_t) AO_BOTH_K00_100 * ao_error_h +
+               (ao_k_t) AO_BOTH_K01_100 * ao_error_a;
        ao_k_speed +=
-               (int32_t) AO_BOTH_K10_100 * ao_error_h +
-               (int32_t) AO_BOTH_K11_100 * ao_error_a;
+               (ao_k_t) AO_BOTH_K10_100 * ao_error_h +
+               (ao_k_t) AO_BOTH_K11_100 * ao_error_a;
        ao_k_accel +=
-               (int32_t) AO_BOTH_K20_100 * ao_error_h +
-               (int32_t) AO_BOTH_K21_100 * ao_error_a;
+               (ao_k_t) AO_BOTH_K20_100 * ao_error_h +
+               (ao_k_t) AO_BOTH_K21_100 * ao_error_a;
 }
 
 #else
@@ -251,14 +250,14 @@ ao_kalman_correct_accel(void)
        ao_kalman_err_accel();
 
        if (ao_sample_tick - ao_sample_prev_tick > 5) {
-               ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a;
-               ao_k_speed  += (int32_t) AO_ACCEL_K1_10 * ao_error_a;
-               ao_k_accel  += (int32_t) AO_ACCEL_K2_10 * ao_error_a;
+               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;
        }
-       ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a;
-       ao_k_speed  += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
-       ao_k_accel  += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
+       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;
 }
 
 #endif /* else FORCE_ACCEL */
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