X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_kalman.c;h=d401a3c8ff5bd04a88c7dea0216d53abcd145589;hp=9aea1f14762f6139d9fb8dce932b98a6c946068d;hb=cf20e213f39fb24f15e0ac94307c2d138fcadecb;hpb=24167015705ae831692b95735968b04a876f935e diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c index 9aea1f14..d401a3c8 100644 --- a/src/kernel/ao_kalman.c +++ b/src/kernel/ao_kalman.c @@ -3,7 +3,8 @@ * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of @@ -23,73 +24,72 @@ #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 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; + if ((int16_t) (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 (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; + if ((int16_t) (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; 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 +123,7 @@ 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", @@ -141,22 +141,22 @@ 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; + if ((int16_t) (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 (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; + if ((int16_t) (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; 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 +164,7 @@ 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; @@ -180,46 +180,46 @@ ao_kalman_correct_both(void) ao_kalman_err_accel(); #ifdef AO_FLIGHT_TEST - if (ao_sample_tick - ao_sample_prev_tick > 50) { + if ((int16_t) (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_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) { + if ((int16_t) (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), (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 +228,19 @@ 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 @@ -250,15 +250,15 @@ 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; + 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; } - 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 */ @@ -285,9 +285,9 @@ ao_kalman(void) ao_max_height = ao_height; ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height; #ifdef AO_FLIGHT_TEST - if (ao_sample_tick - ao_sample_prev_tick > 50) + if ((int16_t) (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) + else if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) ao_avg_height = (ao_avg_height_scaled + 7) >> 4; else #endif