X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_kalman.c;h=4f4ffe8f1b6a813b532cd4fe751ed6d684f34b6b;hp=ac41085df8166db526d26c0d5a95f5f750360056;hb=HEAD;hpb=4775b1d9b50a8732d66a0ad3b73ff74901a8cb7f

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index ac41085d..5f32eb72 100644
--- 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)
@@ -37,34 +37,38 @@ 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;
-#if !HAS_ACCEL
-__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
 ao_kalman_predict(void)
 {
 #ifdef AO_FLIGHT_TEST
-	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
+	if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 50) {
 		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 ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
+	if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		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;
@@ -82,10 +86,11 @@ 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 !HAS_ACCEL
+#if AO_ERROR_H_SQ_AVG
 	ao_v_t	e;
 #endif
 	ao_v_t height_distrust;
@@ -95,7 +100,7 @@ ao_kalman_err_height(void)
 
 	ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
 
-#if !HAS_ACCEL
+#if AO_ERROR_H_SQ_AVG
 	e = ao_error_h;
 	if (e < 0)
 		e = -e;
@@ -136,19 +141,21 @@ ao_kalman_err_height(void)
 #endif
 	}
 }
+#endif
 
+#if HAS_BARO
 static void
 ao_kalman_correct_baro(void)
 {
 	ao_kalman_err_height();
 #ifdef AO_FLIGHT_TEST
-	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
+	if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 50) {
 		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 ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
+	if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		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;
@@ -159,6 +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
 
@@ -170,10 +178,10 @@ ao_kalman_err_accel(void)
 	accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
 
 	/* Can't use ao_accel here as it is the pre-prediction value still */
-	ao_error_a = (accel - ao_k_accel) >> 16;
+	ao_error_a = (ao_v_t) ((accel - ao_k_accel) >> 16);
 }
 
-#ifndef FORCE_ACCEL
+#if !defined(FORCE_ACCEL) && HAS_BARO
 static void
 ao_kalman_correct_both(void)
 {
@@ -181,7 +189,7 @@ ao_kalman_correct_both(void)
 	ao_kalman_err_accel();
 
 #ifdef AO_FLIGHT_TEST
-	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
+	if ((AO_TICK_SIGNED) (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),
@@ -202,7 +210,7 @@ ao_kalman_correct_both(void)
 			(ao_k_t) AO_BOTH_K21_1 * ao_error_a;
 		return;
 	}
-	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
+	if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		if (ao_flight_debug) {
 			printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
 				ao_k_speed / (65536.0 * 16.0),
@@ -251,12 +259,14 @@ ao_kalman_correct_accel(void)
 {
 	ao_kalman_err_accel();
 
-	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
+#ifdef AO_FLIGHT_TEST
+	if ((AO_TICK_SIGNED) (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;
@@ -265,10 +275,30 @@ ao_kalman_correct_accel(void)
 #endif /* else FORCE_ACCEL */
 #endif /* HAS_ACCEL */
 
+#if !HAS_BARO
+static ao_k_t	ao_k_height_prev;
+static ao_k_t	ao_k_speed_prev;
+
+/*
+ * While in pad mode without a barometric sensor, remove accumulated
+ * speed and height values to reduce the effect of systematic sensor
+ * error
+ */
+void
+ao_kalman_reset_accumulate(void)
+{
+	ao_k_height -= ao_k_height_prev;
+	ao_k_speed -= ao_k_speed_prev;
+	ao_k_height_prev = ao_k_height;
+	ao_k_speed_prev = ao_k_speed;
+}
+#endif
+
 void
 ao_kalman(void)
 {
 	ao_kalman_predict();
+#if HAS_BARO
 #if HAS_ACCEL
 	if (ao_flight_state <= ao_flight_coast) {
 #ifdef FORCE_ACCEL
@@ -279,18 +309,27 @@ ao_kalman(void)
 	} else
 #endif
 		ao_kalman_correct_baro();
-	ao_height = from_fix(ao_k_height);
-	ao_speed = from_fix(ao_k_speed);
-	ao_accel = from_fix(ao_k_accel);
+#else
+#if HAS_ACCEL
+	ao_kalman_correct_accel();
+#endif
+#endif
+	ao_height = (ao_v_t) from_fix(ao_k_height);
+	ao_speed = (ao_v_t) from_fix(ao_k_speed);
+	ao_accel = (ao_v_t) 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)
+	if ((AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) > 50)
 		ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
-	else if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5)
+	else if ((AO_TICK_SIGNED) (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;
+		ao_avg_height = (ao_v_t) ((ao_avg_height_scaled + 63) >> 7);
 }