X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_kalman.c;h=203d727a07f4d837551539b74e9feb7a89e32f47;hp=fb75fba93e5d1c8c15f8cd411a9423ad8a4d9f62;hb=fa7dd04741bf3fd9cedc59ed3b45b69ef9312609;hpb=8a14142e7b37031a51409f121b913fe793bf3603

diff --git a/src/ao_kalman.c b/src/ao_kalman.c
index fb75fba9..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;
@@ -126,6 +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;
@@ -158,6 +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",
@@ -238,6 +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