diff options
Diffstat (limited to 'src/kernel/ao_kalman.c')
| -rw-r--r-- | src/kernel/ao_kalman.c | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c index 69a1b3de..d401a3c8 100644 --- a/src/kernel/ao_kalman.c +++ b/src/kernel/ao_kalman.c @@ -55,14 +55,14 @@ 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; @@ -141,13 +141,13 @@ 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 +180,7 @@ 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 +201,7 @@ 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 +250,7 @@ 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 +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 |