X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_kalman.c;h=203d727a07f4d837551539b74e9feb7a89e32f47;hp=ee99f375635c0f05f1c2c4b64ce946e2b44a92ba;hb=fa7dd04741bf3fd9cedc59ed3b45b69ef9312609;hpb=c754759a2d503633d527da4ebb20eb859cd506fd

diff --git a/src/ao_kalman.c b/src/ao_kalman.c
index ee99f375..203d727a 100644
--- a/src/ao_kalman.c
+++ b/src/ao_kalman.c
@@ -31,10 +31,15 @@ static __pdata int32_t		ao_k_accel;
 #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_fix16(1)
+#define AO_K_STEP_2_2_1		to_fix16(0.5)
+
 __pdata int16_t			ao_height;
 __pdata int16_t			ao_speed;
 __pdata int16_t			ao_accel;
 __pdata int16_t			ao_max_height;
+static __pdata int32_t		ao_avg_height_scaled;
+__pdata int16_t			ao_avg_height;
 
 __pdata int16_t			ao_error_h;
 __pdata int16_t			ao_error_h_sq_avg;
@@ -47,6 +52,13 @@ static void
 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;
+
+		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;
@@ -89,7 +101,9 @@ ao_kalman_err_height(void)
 	ao_error_h_sq_avg += (e * e) >> 4;
 #endif
 
-	height_distrust = ao_sample_height - AO_MAX_BARO_HEIGHT;
+	if (ao_flight_state >= ao_flight_drogue)
+		return;
+	height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
 #if HAS_ACCEL
 	/* speed is stored * 16, but we need to ramp between 200 and 328, so
 	 * we want to multiply by 2. The result is a shift by 3.
@@ -100,10 +114,7 @@ ao_kalman_err_height(void)
 	else if (speed_distrust > height_distrust)
 		height_distrust = speed_distrust;
 #endif
-	if (height_distrust <= 0)
-		height_distrust = 0;
-
-	if (height_distrust) {
+	if (height_distrust > 0) {
 #ifdef AO_FLIGHT_TEST
 		int	old_ao_error_h = ao_error_h;
 #endif
@@ -113,7 +124,7 @@ ao_kalman_err_height(void)
 #ifdef AO_FLIGHT_TEST
 		if (ao_flight_debug) {
 			printf("over height %g over speed %g distrust: %g height: error %d -> %d\n",
-			       (double) (ao_sample_height - AO_MAX_BARO_HEIGHT),
+			       (double) (ao_sample_alt - AO_MAX_BARO_HEIGHT),
 			       (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) / 16.0,
 			       height_distrust / 256.0,
 			       old_ao_error_h, ao_error_h);
@@ -127,6 +138,12 @@ 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;
+		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;
@@ -159,6 +176,27 @@ ao_kalman_correct_both(void)
 	ao_kalman_err_accel();
 
 #ifdef AO_FLIGHT_TEST
+	if (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),
+				(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_height +=
+			(int32_t) AO_BOTH_K00_1 * ao_error_h +
+			(int32_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_accel +=
+			(int32_t) AO_BOTH_K20_1 * ao_error_h +
+			(int32_t) AO_BOTH_K21_1 * ao_error_a;
+		return;
+	}
 	if (ao_sample_tick - ao_sample_prev_tick > 5) {
 		if (ao_flight_debug) {
 			printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
@@ -239,6 +277,15 @@ ao_kalman(void)
 	ao_accel = from_fix(ao_k_accel);
 	if (ao_height > ao_max_height)
 		ao_max_height = ao_height;
+	ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_height;
+#ifdef AO_FLIGHT_TEST
+	if (ao_sample_tick - ao_sample_prev_tick > 50)
+		ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
+	else if (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;
 #ifdef AO_FLIGHT_TEST
 	ao_sample_prev_tick = ao_sample_tick;
 #endif