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altos: Eliminate separate height error filter for accelerometer devices
author
Keith Packard
<keithp@keithp.com>
Sun, 27 Aug 2017 23:57:13 +0000
(16:57 -0700)
committer
Keith Packard
<keithp@keithp.com>
Mon, 28 Aug 2017 00:40:40 +0000
(17:40 -0700)
We don't use the error value in flight for those models anyways; it's
only useful on baro-only hardware.
Signed-off-by: Keith Packard <keithp@keithp.com>
src/kernel/ao_kalman.c
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diff --git
a/src/kernel/ao_kalman.c
b/src/kernel/ao_kalman.c
index d401a3c8ff5bd04a88c7dea0216d53abcd145589..87f1bf66f6147e372edad8a94513802aa11c1774 100644
(file)
--- a/
src/kernel/ao_kalman.c
+++ b/
src/kernel/ao_kalman.c
@@
-96,13
+96,8
@@
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;