X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_microkalman.c;h=a9b2c7092aa33e20c3716857f45e1b7550551d26;hp=0684ea2bbaad4b03e747ab6421b83dce885a78b3;hb=HEAD;hpb=24167015705ae831692b95735968b04a876f935e

diff --git a/src/kernel/ao_microkalman.c b/src/kernel/ao_microkalman.c
index 0684ea2b..a9b2c709 100644
--- a/src/kernel/ao_microkalman.c
+++ b/src/kernel/ao_microkalman.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
@@ -22,19 +23,41 @@
 
 #define FIX_BITS	16
 
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define to_fix_v(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix_k(x) ((int32_t) ((x) * 65536.0 + 0.5))
 #define from_fix8(x)	((x) >> 8)
 #define from_fix(x)	((x) >> 16)
-#define fix8_to_fix16(x)	((x) << 8)
+#define fix8_to_fix_v(x)	((x) << 8)
 #define fix16_to_fix8(x)	((x) >> 8)
 
 #include <ao_kalman.h>
 
+#ifndef AO_MK_STEP_96MS
+#define AO_MK_STEP_96MS	1
+
+#endif
+
+#if AO_MK_STEP_100MS
+#define AO_MK_TIME_STEP	0.1
+
+#define AO_K0_10	AO_MK2_BARO_K0_10
+#define AO_K1_10	AO_MK2_BARO_K1_10
+#define AO_K2_10	AO_MK2_BARO_K2_10
+#endif
+
+#if AO_MK_STEP_96MS
+#define AO_MK_TIME_STEP	0.096
+
+#define AO_K0_10	AO_MK_BARO_K0_10
+#define AO_K1_10	AO_MK_BARO_K1_10
+#define AO_K2_10	AO_MK_BARO_K2_10
+#endif
+
 /* Basic time step (96ms) */
-#define AO_MK_STEP	to_fix16(0.096)
+#define AO_MK_STEP	to_fix_v(AO_MK_TIME_STEP)
+
 /* step ** 2 / 2 */
-#define AO_MK_STEP_2_2	to_fix16(0.004608)
+#define AO_MK_STEP_2_2	to_fix_v(AO_MK_TIME_STEP * AO_MK_TIME_STEP / 2.0)
 
 uint32_t	ao_k_pa;		/* 24.8 fixed point */
 int32_t		ao_k_pa_speed;		/* 16.16 fixed point */
@@ -47,14 +70,14 @@ int16_t		ao_pa_accel;		/* integer portion */
 void
 ao_microkalman_init(void)
 {
-	ao_pa = pa;
-	ao_k_pa = pa << 8;
-}	
+	ao_pa = (uint32_t) pa;
+	ao_k_pa = (uint32_t) (pa << 8);
+}
 
 void
 ao_microkalman_predict(void)
 {
-	ao_k_pa       += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
+	ao_k_pa       += (uint32_t) (int32_t) fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
 	ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
 }
 
@@ -63,12 +86,12 @@ ao_microkalman_correct(void)
 {
 	int16_t	e;	/* Height error in Pa */
 
-	e = pa - from_fix8(ao_k_pa);
+	e = (int16_t) (pa - from_fix8(ao_k_pa));
 
-	ao_k_pa       += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
-	ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
-	ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
+	ao_k_pa       += (uint32_t)(int32_t)fix16_to_fix8(e * AO_K0_10);
+	ao_k_pa_speed += (int32_t) e * AO_K1_10;
+	ao_k_pa_accel += (int32_t) e * AO_K2_10;
 	ao_pa = from_fix8(ao_k_pa);
-	ao_pa_speed = from_fix(ao_k_pa_speed);
-	ao_pa_accel = from_fix(ao_k_pa_accel);
+	ao_pa_speed = (int16_t) from_fix(ao_k_pa_speed);
+	ao_pa_accel = (int16_t) from_fix(ao_k_pa_accel);
 }