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 82315c485de086b7f3b0cb64a462a878ac620119..aaf0595f01ab7d5e345ab5997983386f78bd4c1e 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -24,9 +24,9 @@
 #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 ao_k_t          ao_k_height;
+static ao_k_t          ao_k_speed;
+static ao_k_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)
@@ -37,18 +37,24 @@ static __pdata ao_k_t               ao_k_accel;
 #define AO_K_STEP_1            to_fix_v(1)
 #define AO_K_STEP_2_2_1                to_fix_v(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;
+ao_v_t                 ao_height;
+ao_v_t                 ao_speed;
+ao_v_t                 ao_accel;
+ao_v_t                 ao_max_height;
+static ao_k_t          ao_avg_height_scaled;
+ao_v_t                 ao_avg_height;
 
-__pdata ao_v_t                 ao_error_h;
-__pdata ao_v_t                 ao_error_h_sq_avg;
+ao_v_t                 ao_error_h;
+#if !HAS_ACCEL || AO_FLIGHT_TEST
+#define AO_ERROR_H_SQ_AVG      1
+#endif
+
+#if AO_ERROR_H_SQ_AVG
+ao_v_t                 ao_error_h_sq_avg;
+#endif
 
 #if HAS_ACCEL
-__pdata ao_v_t                 ao_error_a;
+ao_v_t                 ao_error_a;
 #endif
 
 static void
@@ -80,10 +86,13 @@ 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)
 {
+#if AO_ERROR_H_SQ_AVG
        ao_v_t  e;
+#endif
        ao_v_t height_distrust;
 #if HAS_ACCEL
        ao_v_t  speed_distrust;
@@ -91,6 +100,7 @@ ao_kalman_err_height(void)
 
        ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
 
+#if AO_ERROR_H_SQ_AVG
        e = ao_error_h;
        if (e < 0)
                e = -e;
@@ -98,6 +108,7 @@ ao_kalman_err_height(void)
                e = 127;
        ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
        ao_error_h_sq_avg += (e * e) >> 4;
+#endif
 
        if (ao_flight_state >= ao_flight_drogue)
                return;
@@ -130,7 +141,9 @@ ao_kalman_err_height(void)
 #endif
        }
 }
+#endif
 
+#if HAS_BARO
 static void
 ao_kalman_correct_baro(void)
 {
@@ -153,6 +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
 
@@ -167,7 +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)
 {
@@ -245,12 +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;
@@ -263,6 +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
@@ -273,12 +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;