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-rw-r--r--src/kernel/ao_flight.c6
-rw-r--r--src/kernel/ao_kalman.c35
-rw-r--r--src/kernel/ao_sample.c2
-rw-r--r--src/kernel/ao_sample.h9
4 files changed, 31 insertions, 21 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;
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-17 09:37:29 +0000