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/*
* Copyright © 2013 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
#ifndef AO_FLIGHT_TEST
#include <ao.h>
#endif
#include <ao_micropeak.h>
#define FIX_BITS 16
#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
#define from_fix8(x) ((x) >> 8)
#define from_fix(x) ((x) >> 16)
#define fix8_to_fix16(x) ((x) << 8)
#define fix16_to_fix8(x) ((x) >> 8)
#include <ao_kalman.h>
/* Basic time step (96ms) */
#define AO_MK_STEP to_fix16(0.096)
/* step ** 2 / 2 */
#define AO_MK_STEP_2_2 to_fix16(0.004608)
uint32_t ao_k_pa; /* 24.8 fixed point */
int32_t ao_k_pa_speed; /* 16.16 fixed point */
int32_t ao_k_pa_accel; /* 16.16 fixed point */
uint32_t ao_pa; /* integer portion */
int16_t ao_pa_speed; /* integer portion */
int16_t ao_pa_accel; /* integer portion */
void
ao_microkalman_init(void)
{
ao_pa = pa;
ao_k_pa = pa << 8;
}
void
ao_microkalman_predict(void)
{
ao_k_pa += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
}
void
ao_microkalman_correct(void)
{
int16_t e; /* Height error in Pa */
e = pa - from_fix8(ao_k_pa);
ao_k_pa += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
ao_pa = from_fix8(ao_k_pa);
ao_pa_speed = from_fix(ao_k_pa_speed);
ao_pa_accel = from_fix(ao_k_pa_accel);
}
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