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altos: Don't eliminate baro above mach speed, just trust it less
[fw/altos]
/
src
/
kernel
/
ao_sample.h
diff --git
a/src/kernel/ao_sample.h
b/src/kernel/ao_sample.h
index 2ec998bd257adb4a9274447d4111504526c3d829..f89d6a4ced254e0c7723eb002503987590b73d3d 100644
(file)
--- a/
src/kernel/ao_sample.h
+++ b/
src/kernel/ao_sample.h
@@
-3,7
+3,8
@@
*
* 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
*
* 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
@@
-94,7
+95,12
@@
typedef int16_t ao_v_t;
/*
* Above this speed, baro measurements are unreliable
*/
/*
* 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)
#define ACCEL_NOSE_UP (ao_accel_2g >> 2)