X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_kalman.c;h=ee01949e5e54a416bc9737e56bb20a03261f8bc1;hb=01aee9ebe517ed657692e0a39a31ae0ddfb5b8b0;hp=4e6cbb06c332561939589935aea4da8c65022d46;hpb=146a0ab223e8d9b376125d1e59f597f6d7851a9b;p=fw%2Faltos

diff --git a/src/ao_kalman.c b/src/ao_kalman.c
index 4e6cbb06..ee01949e 100644
--- a/src/ao_kalman.c
+++ b/src/ao_kalman.c
@@ -38,6 +38,8 @@ __pdata int16_t			ao_height;
 __pdata int16_t			ao_speed;
 __pdata int16_t			ao_accel;
 __pdata int16_t			ao_max_height;
+static __pdata int32_t		ao_avg_height_scaled;
+__pdata int16_t			ao_avg_height;
 
 __pdata int16_t			ao_error_h;
 __pdata int16_t			ao_error_h_sq_avg;
@@ -275,6 +277,15 @@ ao_kalman(void)
 	ao_accel = from_fix(ao_k_accel);
 	if (ao_height > ao_max_height)
 		ao_max_height = ao_height;
+	ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
+#ifdef AO_FLIGHT_TEST
+	if (ao_sample_tick - ao_sample_prev_tick > 50)
+		ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
+	else if (ao_sample_tick - ao_sample_prev_tick > 5)
+		ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
+	else 
+#endif
+		ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
 #ifdef AO_FLIGHT_TEST
 	ao_sample_prev_tick = ao_sample_tick;
 #endif