X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_kalman.c;h=82315c485de086b7f3b0cb64a462a878ac620119;hb=ea6fe21d78744d7e6225a56c369d54f7cd956767;hp=d401a3c8ff5bd04a88c7dea0216d53abcd145589;hpb=cf20e213f39fb24f15e0ac94307c2d138fcadecb;p=fw%2Faltos

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index d401a3c8..82315c48 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -96,25 +96,20 @@ ao_kalman_err_height(void)
 		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
 
 	if (ao_flight_state >= ao_flight_drogue)
 		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) {