Merge branch 'branch-1.8' into debian

6 files changed, 92 insertions, 54 deletions

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 50f2b68f..f06125cd 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -269,7 +269,7 @@ ao_flight(void)
 			 * number of seconds.
 			 */
 			if (ao_config.apogee_lockout) {
-				if ((ao_sample_tick - ao_boost_tick) <
+				if ((int16_t) (ao_sample_tick - ao_boost_tick) <
 				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 					break;
 			}
@@ -282,9 +282,11 @@ ao_flight(void)
 			 * the measured altitude reasonably closely; otherwise
 			 * we're probably transsonic.
 			 */
+#define AO_ERROR_BOUND	100
+
 			if (ao_speed < 0
 #if !HAS_ACCEL
-			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 #endif
 				)
 			{
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 69a1b3de..ac41085d 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -45,7 +45,9 @@ static __pdata ao_k_t		ao_avg_height_scaled;
 __xdata 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;
+#endif
 
 #if HAS_ACCEL
 __pdata ao_v_t			ao_error_a;
@@ -55,14 +57,14 @@ static void
 ao_kalman_predict(void)
 {
 #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_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) {
+	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;
@@ -83,7 +85,9 @@ ao_kalman_predict(void)
 static void
 ao_kalman_err_height(void)
 {
+#if !HAS_ACCEL
 	ao_v_t	e;
+#endif
 	ao_v_t height_distrust;
 #if HAS_ACCEL
 	ao_v_t	speed_distrust;
@@ -91,15 +95,12 @@ ao_kalman_err_height(void)
 
 	ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
 
+#if !HAS_ACCEL
 	e = ao_error_h;
 	if (e < 0)
 		e = -e;
 	if (e > 127)
 		e = 127;
-#if HAS_ACCEL
-	ao_error_h_sq_avg -= ao_error_h_sq_avg >> 2;
-	ao_error_h_sq_avg += (e * e) >> 2;
-#else
 	ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
 	ao_error_h_sq_avg += (e * e) >> 4;
 #endif
@@ -108,13 +109,13 @@ ao_kalman_err_height(void)
 		return;
 	height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
 #if HAS_ACCEL
-	/* speed is stored * 16, but we need to ramp between 200 and 328, so
+	/* speed is stored * 16, but we need to ramp between 248 and 328, so
 	 * we want to multiply by 2. The result is a shift by 3.
 	 */
 	speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1);
-	if (speed_distrust <= 0)
-		speed_distrust = 0;
-	else if (speed_distrust > height_distrust)
+	if (speed_distrust > AO_MAX_SPEED_DISTRUST)
+		speed_distrust = AO_MAX_SPEED_DISTRUST;
+	if (speed_distrust > height_distrust)
 		height_distrust = speed_distrust;
 #endif
 	if (height_distrust > 0) {
@@ -141,13 +142,13 @@ ao_kalman_correct_baro(void)
 {
 	ao_kalman_err_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_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) {
+	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;
@@ -180,7 +181,7 @@ 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),
@@ -201,7 +202,7 @@ ao_kalman_correct_both(void)
 			(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),
@@ -250,7 +251,7 @@ ao_kalman_correct_accel(void)
 {
 	ao_kalman_err_accel();
 
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	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;
@@ -285,9 +286,9 @@ 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
diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 90ea07ad..f0ab0169 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -180,7 +180,7 @@ static void
 ao_sample_rotate(void)
 {
 #ifdef AO_FLIGHT_TEST
-	float	dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+	float	dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
 #else
 	static const float dt = 1/TIME_DIV;
 #endif
diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h
index da40187b..fbef031d 100644
--- a/src/kernel/ao_sample.h
+++ b/src/kernel/ao_sample.h
@@ -95,7 +95,12 @@ typedef int16_t			ao_v_t;
 /*
  * Above this speed, baro measurements are unreliable
  */
-#define AO_MAX_BARO_SPEED	200
+#define AO_MAX_BARO_SPEED	248
+
+/* The maximum amount (in a range of 0-256) to de-rate the
+ * baro sensor data based on speed.
+ */
+#define AO_MAX_SPEED_DISTRUST	160
 
 #define ACCEL_NOSE_UP	(ao_accel_2g >> 2)
 
@@ -175,7 +180,9 @@ extern __xdata ao_v_t			ao_max_height;	/* max of ao_height */
 extern __xdata ao_v_t			ao_avg_height;	/* running average of height */
 
 extern __pdata ao_v_t			ao_error_h;
+#if !HAS_ACCEL
 extern __pdata ao_v_t			ao_error_h_sq_avg;
+#endif
 
 #if HAS_ACCEL
 extern __pdata ao_v_t			ao_error_a;
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index d3d39f2a..55bfe410 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -72,7 +72,7 @@ struct ao_adc {
 #define AO_ADC_NUM_SENSE	2
 #define HAS_MS5607		1
 #define HAS_MMA655X		1
-#define AO_MMA655X_INVERT	1
+#define AO_MMA655X_INVERT	0
 #define HAS_BEEP		1
 #define AO_CONFIG_MAX_SIZE	1024
 
@@ -264,6 +264,7 @@ double	main_time;
 int	tick_offset;
 
 static ao_k_t	ao_k_height;
+static double	simple_speed;
 
 int16_t
 ao_time(void)
@@ -320,7 +321,7 @@ ao_dump_state(void);
 void
 ao_sleep(void *wchan);
 
-const char const * const ao_state_names[] = {
+const char * const ao_state_names[] = {
 	"startup", "idle", "pad", "boost", "fast",
 	"coast", "drogue", "main", "landed", "invalid"
 };
@@ -361,6 +362,9 @@ extern int16_t ao_accel_2g;
 
 typedef int16_t	accel_t;
 
+uint16_t	ao_serial_number;
+uint16_t	ao_flight_number;
+
 extern uint16_t	ao_sample_tick;
 
 extern alt_t	ao_sample_height;
@@ -479,7 +483,6 @@ ao_insert(void)
 	double	time;
 
 	ao_data_ring[ao_data_head] = ao_data_static;
-	ao_data_head = ao_data_ring_next(ao_data_head);
 	if (ao_flight_state != ao_flight_startup) {
 #if HAS_ACCEL
 		double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
@@ -487,23 +490,37 @@ ao_insert(void)
 #else
 		double	accel = 0.0;
 #endif
-#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
-		double	height;
-
-		ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
-		height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
-#else
-		double	height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
-#endif
 
 		(void) accel;
 		if (!tick_offset)
 			tick_offset = -ao_data_static.tick;
 		if ((prev_tick - ao_data_static.tick) > 0x400)
 			tick_offset += 65536;
+		simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0;
 		prev_tick = ao_data_static.tick;
 		time = (double) (ao_data_static.tick + tick_offset) / 100;
 
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
+		ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
+		double height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
+
+		/* Hack to skip baro spike at accidental drogue charge
+		 * firing in 2015-09-26-serial-2093-flight-0012.eeprom
+		 * so we can test the kalman filter with this data. Just
+		 * keep reporting the same baro value across the pressure spike
+		 */
+		{
+			static struct ao_ms5607_sample save;
+			if (ao_serial_number == 2093 && ao_flight_number == 12 && 32.5 < time && time < 33.7) {
+				ao_data_ring[ao_data_head].ms5607_raw = save;
+			} else {
+				save = ao_data_static.ms5607_raw;
+			}
+		}
+#else
+		double	height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
+#endif
+
 		if (ao_test_max_height < height) {
 			ao_test_max_height = height;
 			ao_test_max_height_time = time;
@@ -616,17 +633,27 @@ ao_insert(void)
 #endif
 
 #if 1
-			printf("%7.2f height %8.2f accel %8.3f "
-#if TELEMEGA && 1
-			       "angle %5d "
+			printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
+			       "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
+#if TELEMEGA
+			       " angle %5d "
 			       "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
 #endif
-			       "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
+			       "\n",
 			       time,
 			       height,
 			       accel,
-#if TELEMEGA && 1
-			       ao_sample_orient,
+			       simple_speed > -100.0 ? simple_speed : -100.0,
+			       ao_state_names[ao_flight_state],
+			       ao_k_height / 65536.0,
+			       ao_k_speed / 65536.0 / 16.0,
+			       ao_k_accel / 65536.0 / 16.0,
+			       ao_avg_height,
+			       drogue_height,
+			       main_height,
+			       ao_error_h_sq_avg
+#if TELEMEGA
+			       , ao_sample_orient,
 
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
@@ -637,22 +664,16 @@ ao_insert(void)
 			       ao_data_static.hmc5883.x,
 			       ao_data_static.hmc5883.y,
 			       ao_data_static.hmc5883.z,
-			       ao_mag_angle,
+			       ao_mag_angle
 #endif
-			       ao_state_names[ao_flight_state],
-			       ao_k_height / 65536.0,
-			       ao_k_speed / 65536.0 / 16.0,
-			       ao_k_accel / 65536.0 / 16.0,
-			       ao_avg_height,
-			       drogue_height,
-			       main_height,
-			       ao_error_h_sq_avg);
+				);
 #endif
-			
+
 //			if (ao_flight_state == ao_flight_landed)
 //				ao_test_exit();
 		}
 	}
+	ao_data_head = ao_data_ring_next(ao_data_head);
 }
 
 
@@ -763,6 +784,7 @@ ao_sleep(void *wchan)
 //				printf ("\n");
 				switch (type) {
 				case 'F':
+					ao_flight_number = uint16(bytes, 0);
 					ao_flight_ground_accel = int16(bytes, 2);
 					ao_flight_started = 1;
 					ao_ground_pres = int32(bytes, 4);
@@ -872,6 +894,7 @@ ao_sleep(void *wchan)
 				switch (type) {
 				case 'F':
 					ao_flight_started = 1;
+					ao_flight_number = uint16(bytes, 0);
 					ao_ground_pres = uint32(bytes, 4);
 					ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 #if 0
@@ -937,6 +960,7 @@ ao_sleep(void *wchan)
 //				printf ("\n");
 				switch (type) {
 				case 'F':
+					ao_flight_number = uint16(bytes, 0);
 					ao_flight_ground_accel = int16(bytes, 2);
 					ao_flight_started = 1;
 					ao_ground_pres = int32(bytes, 4);
@@ -985,6 +1009,8 @@ ao_sleep(void *wchan)
 #endif
 			else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 				log_format = strtoul(words[1], NULL, 10);
+			} else if (nword == 2 && strcmp(words[0], "serial-number") == 0) {
+				ao_serial_number = strtoul(words[1], NULL, 10);
 			} else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 				ao_config.accel_plus_g = atoi(words[3]);
 				ao_config.accel_minus_g = atoi(words[5]);
@@ -1107,6 +1133,7 @@ ao_sleep(void *wchan)
 			switch (type) {
 			case 'F':
 				ao_flight_ground_accel = a;
+				ao_flight_number = b;
 				if (ao_config.accel_plus_g == 0) {
 					ao_config.accel_plus_g = a;
 					ao_config.accel_minus_g = a + 530;
diff --git a/src/test/plottest b/src/test/plottest
index 7d253ff1..95337f10 100755
--- a/src/test/plottest
+++ b/src/test/plottest
@@ -7,10 +7,11 @@ set ytics border out nomirror
 set y2tics border out nomirror
 plot "$1" using 1:3 with lines axes x1y1 title "raw height",\
 "$1" using 1:5 with lines axes x1y2 title "raw accel",\
-"$1" using 1:9 with lines axes x1y1 title "height",\
-"$1" using 1:11 with lines axes x1y2 title "speed",\
-"$1" using 1:13 with lines axes x1y2 title "accel",\
-"$1" using 1:17 with lines axes x1y1 title "drogue",\
-"$1" using 1:19 with lines axes x1y1 title "main",\
-"$1" using 1:21 with lines axes x1y1 title "error"
+"$1" using 1:7 with lines axes x1y2 title "accel speed",\
+"$1" using 1:11 with lines axes x1y1 title "height",\
+"$1" using 1:13 with lines axes x1y2 title "speed",\
+"$1" using 1:15 with lines axes x1y2 title "accel",\
+"$1" using 1:19 with lines axes x1y1 title "drogue",\
+"$1" using 1:21 with lines axes x1y1 title "main",\
+"$1" using 1:23 with lines axes x1y1 title "error"
 EOF