diff options
Diffstat (limited to 'src/kernel/ao_kalman.c')
| -rw-r--r-- | src/kernel/ao_kalman.c | 35 |
1 files changed, 18 insertions, 17 deletions
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 |