diff options
| author | Keith Packard <keithp@keithp.com> | 2013-01-16 15:15:49 -0800 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2013-01-16 15:21:24 -0800 |
| commit | 540309240a8515116120dbd4403902282ed8c27b (patch) | |
| tree | 450f6c9b95fcdaff2abce7dcdde17ee88ad0bcb9 /src/micropeak/ao_micropeak.h | |
| parent | 249ee968305ae6e8fcf0a10e5cf9cc5826bd81dd (diff) | |
altos: Add Kalman filter to MicroPeak
This filters altitudes more accurately and also allows tracking of
acceleration, which is used to discard height data generated by
ejection charge noise
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/micropeak/ao_micropeak.h')
| -rw-r--r-- | src/micropeak/ao_micropeak.h | 32 |
1 files changed, 27 insertions, 5 deletions
diff --git a/src/micropeak/ao_micropeak.h b/src/micropeak/ao_micropeak.h index e408d7c5..382b98d9 100644 --- a/src/micropeak/ao_micropeak.h +++ b/src/micropeak/ao_micropeak.h @@ -18,7 +18,6 @@ #ifndef _AO_MICROPEAK_H_ #define _AO_MICROPEAK_H_ -#define FILTER_SHIFT 3 #define SAMPLE_SLEEP AO_MS_TO_TICKS(96) /* 16 sample, or about two seconds worth */ @@ -32,14 +31,11 @@ #define BOOST_DELAY AO_SEC_TO_TICKS(30) /* Pressure change (in Pa) to detect landing */ -#define LAND_DETECT 12 /* 1m at sea level, 1.2m at 2000m */ +#define LAND_DETECT 24 /* 2m at sea level, 2.4m at 2000m */ /* Current sensor pressure value */ extern uint32_t pa; -/* IIR filtered pressure value */ -extern uint32_t pa_avg; - /* Average pressure value on ground */ extern uint32_t pa_ground; @@ -52,5 +48,31 @@ extern alt_t ground_alt, max_alt; /* max_alt - ground_alt */ extern alt_t ao_max_height; +void +ao_pa_get(void); + +void +ao_microflight(void); + +#define ACCEL_LOCK_PA -20 +#define ACCEL_LOCK_TIME 10 + +extern uint32_t ao_k_pa; /* 24.8 fixed point */ +extern int32_t ao_k_pa_speed; /* 16.16 fixed point */ +extern int32_t ao_k_pa_accel; /* 16.16 fixed point */ + +extern uint32_t ao_pa; /* integer portion */ +extern int16_t ao_pa_speed; /* integer portion */ +extern int16_t ao_pa_accel; /* integer portion */ + +void +ao_microkalman_init(void); + +void +ao_microkalman_predict(void); + +void +ao_microkalman_correct(void); + #endif |