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Diffstat (limited to 'src/kernel/ao_kalman.c')
-rw-r--r--src/kernel/ao_kalman.c147
1 files changed, 73 insertions, 74 deletions
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 9aea1f14..7b0f8145 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -23,32 +23,31 @@
#include "ao_sample.h"
#include "ao_kalman.h"
+static __pdata ao_k_t ao_k_height;
+static __pdata ao_k_t ao_k_speed;
+static __pdata ao_k_t ao_k_accel;
-static __pdata int32_t ao_k_height;
-static __pdata int32_t ao_k_speed;
-static __pdata int32_t ao_k_accel;
+#define AO_K_STEP_100 to_fix_v(0.01)
+#define AO_K_STEP_2_2_100 to_fix_v(0.00005)
-#define AO_K_STEP_100 to_fix16(0.01)
-#define AO_K_STEP_2_2_100 to_fix16(0.00005)
+#define AO_K_STEP_10 to_fix_v(0.1)
+#define AO_K_STEP_2_2_10 to_fix_v(0.005)
-#define AO_K_STEP_10 to_fix16(0.1)
-#define AO_K_STEP_2_2_10 to_fix16(0.005)
+#define AO_K_STEP_1 to_fix_v(1)
+#define AO_K_STEP_2_2_1 to_fix_v(0.5)
-#define AO_K_STEP_1 to_fix16(1)
-#define AO_K_STEP_2_2_1 to_fix16(0.5)
+__pdata ao_v_t ao_height;
+__pdata ao_v_t ao_speed;
+__pdata ao_v_t ao_accel;
+__xdata ao_v_t ao_max_height;
+static __pdata ao_k_t ao_avg_height_scaled;
+__xdata ao_v_t ao_avg_height;
-__pdata int16_t ao_height;
-__pdata int16_t ao_speed;
-__pdata int16_t ao_accel;
-__xdata int16_t ao_max_height;
-static __pdata int32_t ao_avg_height_scaled;
-__xdata int16_t ao_avg_height;
-
-__pdata int16_t ao_error_h;
-__pdata int16_t ao_error_h_sq_avg;
+__pdata ao_v_t ao_error_h;
+__pdata ao_v_t ao_error_h_sq_avg;
#if HAS_ACCEL
-__pdata int16_t ao_error_a;
+__pdata ao_v_t ao_error_a;
#endif
static void
@@ -56,40 +55,40 @@ ao_kalman_predict(void)
{
#ifdef AO_FLIGHT_TEST
if (ao_sample_tick - ao_sample_prev_tick > 50) {
- ao_k_height += ((int32_t) ao_speed * AO_K_STEP_1 +
- (int32_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
- ao_k_speed += (int32_t) ao_accel * AO_K_STEP_1;
+ 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) {
- ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 +
- (int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
- ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10;
+ 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;
return;
}
if (ao_flight_debug) {
printf ("predict speed %g + (%g * %g) = %g\n",
ao_k_speed / (65536.0 * 16.0), ao_accel / 16.0, AO_K_STEP_100 / 65536.0,
- (ao_k_speed + (int32_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
+ (ao_k_speed + (ao_k_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
}
#endif
- ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
- (int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
- ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100;
+ ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_100 +
+ (ao_k_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
+ ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_100;
}
static void
ao_kalman_err_height(void)
{
- int16_t e;
- int16_t height_distrust;
+ ao_v_t e;
+ ao_v_t height_distrust;
#if HAS_ACCEL
- int16_t speed_distrust;
+ ao_v_t speed_distrust;
#endif
- ao_error_h = ao_sample_height - (int16_t) (ao_k_height >> 16);
+ ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
e = ao_error_h;
if (e < 0)
@@ -123,7 +122,7 @@ ao_kalman_err_height(void)
#endif
if (height_distrust > 0x100)
height_distrust = 0x100;
- ao_error_h = (int16_t) (((int32_t) ao_error_h * (0x100 - height_distrust)) >> 8);
+ ao_error_h = (ao_v_t) (((ao_k_t) ao_error_h * (0x100 - height_distrust)) >> 8);
#ifdef AO_FLIGHT_TEST
if (ao_flight_debug) {
printf("over height %g over speed %g distrust: %g height: error %d -> %d\n",
@@ -142,21 +141,21 @@ ao_kalman_correct_baro(void)
ao_kalman_err_height();
#ifdef AO_FLIGHT_TEST
if (ao_sample_tick - ao_sample_prev_tick > 50) {
- ao_k_height += (int32_t) AO_BARO_K0_1 * ao_error_h;
- ao_k_speed += (int32_t) AO_BARO_K1_1 * ao_error_h;
- ao_k_accel += (int32_t) AO_BARO_K2_1 * ao_error_h;
+ 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) {
- ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h;
- ao_k_speed += (int32_t) AO_BARO_K1_10 * ao_error_h;
- ao_k_accel += (int32_t) AO_BARO_K2_10 * ao_error_h;
+ 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;
return;
}
#endif
- ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h;
- ao_k_speed += (int32_t) AO_BARO_K1_100 * ao_error_h;
- ao_k_accel += (int32_t) AO_BARO_K2_100 * ao_error_h;
+ ao_k_height += (ao_k_t) AO_BARO_K0_100 * ao_error_h;
+ ao_k_speed += (ao_k_t) AO_BARO_K1_100 * ao_error_h;
+ ao_k_accel += (ao_k_t) AO_BARO_K2_100 * ao_error_h;
}
#if HAS_ACCEL
@@ -164,7 +163,7 @@ ao_kalman_correct_baro(void)
static void
ao_kalman_err_accel(void)
{
- int32_t accel;
+ ao_k_t accel;
accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
@@ -187,18 +186,18 @@ ao_kalman_correct_both(void)
(double) ao_error_h, AO_BOTH_K10_1 / 65536.0,
(double) ao_error_a, AO_BOTH_K11_1 / 65536.0,
(ao_k_speed +
- (int32_t) AO_BOTH_K10_1 * ao_error_h +
- (int32_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0));
+ (ao_k_t) AO_BOTH_K10_1 * ao_error_h +
+ (ao_k_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0));
}
ao_k_height +=
- (int32_t) AO_BOTH_K00_1 * ao_error_h +
- (int32_t) AO_BOTH_K01_1 * ao_error_a;
+ (ao_k_t) AO_BOTH_K00_1 * ao_error_h +
+ (ao_k_t) AO_BOTH_K01_1 * ao_error_a;
ao_k_speed +=
- (int32_t) AO_BOTH_K10_1 * ao_error_h +
- (int32_t) AO_BOTH_K11_1 * ao_error_a;
+ (ao_k_t) AO_BOTH_K10_1 * ao_error_h +
+ (ao_k_t) AO_BOTH_K11_1 * ao_error_a;
ao_k_accel +=
- (int32_t) AO_BOTH_K20_1 * ao_error_h +
- (int32_t) AO_BOTH_K21_1 * ao_error_a;
+ (ao_k_t) AO_BOTH_K20_1 * ao_error_h +
+ (ao_k_t) AO_BOTH_K21_1 * ao_error_a;
return;
}
if (ao_sample_tick - ao_sample_prev_tick > 5) {
@@ -208,18 +207,18 @@ ao_kalman_correct_both(void)
(double) ao_error_h, AO_BOTH_K10_10 / 65536.0,
(double) ao_error_a, AO_BOTH_K11_10 / 65536.0,
(ao_k_speed +
- (int32_t) AO_BOTH_K10_10 * ao_error_h +
- (int32_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
+ (ao_k_t) AO_BOTH_K10_10 * ao_error_h +
+ (ao_k_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
}
ao_k_height +=
- (int32_t) AO_BOTH_K00_10 * ao_error_h +
- (int32_t) AO_BOTH_K01_10 * ao_error_a;
+ (ao_k_t) AO_BOTH_K00_10 * ao_error_h +
+ (ao_k_t) AO_BOTH_K01_10 * ao_error_a;
ao_k_speed +=
- (int32_t) AO_BOTH_K10_10 * ao_error_h +
- (int32_t) AO_BOTH_K11_10 * ao_error_a;
+ (ao_k_t) AO_BOTH_K10_10 * ao_error_h +
+ (ao_k_t) AO_BOTH_K11_10 * ao_error_a;
ao_k_accel +=
- (int32_t) AO_BOTH_K20_10 * ao_error_h +
- (int32_t) AO_BOTH_K21_10 * ao_error_a;
+ (ao_k_t) AO_BOTH_K20_10 * ao_error_h +
+ (ao_k_t) AO_BOTH_K21_10 * ao_error_a;
return;
}
if (ao_flight_debug) {
@@ -228,19 +227,19 @@ ao_kalman_correct_both(void)
(double) ao_error_h, AO_BOTH_K10_100 / 65536.0,
(double) ao_error_a, AO_BOTH_K11_100 / 65536.0,
(ao_k_speed +
- (int32_t) AO_BOTH_K10_100 * ao_error_h +
- (int32_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
+ (ao_k_t) AO_BOTH_K10_100 * ao_error_h +
+ (ao_k_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
}
#endif
ao_k_height +=
- (int32_t) AO_BOTH_K00_100 * ao_error_h +
- (int32_t) AO_BOTH_K01_100 * ao_error_a;
+ (ao_k_t) AO_BOTH_K00_100 * ao_error_h +
+ (ao_k_t) AO_BOTH_K01_100 * ao_error_a;
ao_k_speed +=
- (int32_t) AO_BOTH_K10_100 * ao_error_h +
- (int32_t) AO_BOTH_K11_100 * ao_error_a;
+ (ao_k_t) AO_BOTH_K10_100 * ao_error_h +
+ (ao_k_t) AO_BOTH_K11_100 * ao_error_a;
ao_k_accel +=
- (int32_t) AO_BOTH_K20_100 * ao_error_h +
- (int32_t) AO_BOTH_K21_100 * ao_error_a;
+ (ao_k_t) AO_BOTH_K20_100 * ao_error_h +
+ (ao_k_t) AO_BOTH_K21_100 * ao_error_a;
}
#else
@@ -251,14 +250,14 @@ ao_kalman_correct_accel(void)
ao_kalman_err_accel();
if (ao_sample_tick - ao_sample_prev_tick > 5) {
- ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a;
- ao_k_speed += (int32_t) AO_ACCEL_K1_10 * ao_error_a;
- ao_k_accel += (int32_t) AO_ACCEL_K2_10 * ao_error_a;
+ 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;
return;
}
- ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a;
- ao_k_speed += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
- ao_k_accel += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
+ ao_k_height += (ao_k_t) AO_ACCEL_K0_100 * ao_error_a;
+ ao_k_speed += (ao_k_t) AO_ACCEL_K1_100 * ao_error_a;
+ ao_k_accel += (ao_k_t) AO_ACCEL_K2_100 * ao_error_a;
}
#endif /* else FORCE_ACCEL */
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 12:34:36 +0000