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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 da40187b0d7effd77aff60a49e63518c57e05007..f89d6a4ced254e0c7723eb002503987590b73d3d 100644
(file)
--- 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
*/
/*
* 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)