From: Keith Packard <keithp@keithp.com>
Date: Sun, 27 Aug 2017 23:57:13 +0000 (-0700)
Subject: altos: Eliminate separate height error filter for accelerometer devices
X-Git-Tag: 1.8.1~14
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=12ef994a24eb996458092dc35c671d6b824b1576

altos: Eliminate separate height error filter for accelerometer devices

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>
---

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index d401a3c8..87f1bf66 100644
--- 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;