altos: Add nickle kalman implementation.

[fw/altos] / src / ao_flight.c

diff --git a/src/ao_flight.c b/src/ao_flight.c
index e8130baab3070d54cb40a05adc88554508ff6b44..493913b2c1b2a91732bde0fc9cbf407ee2609196 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -488,9 +488,20 @@ ao_flight(void)
                         * transition is detected
                         */
 #if USE_KALMAN
+#if HAS_ACCEL
+                       /*
+                        * With an accelerometer, either to detect launch
+                        */
                        if ((ao_k_accel > to_fix32(20) &&
                             ao_k_speed > to_fix32(5)) ||
                            ao_k_height > to_fix32(20))
+#else
+                       /*
+                        * Without an accelerometer, the barometer is far too
+                        * noisy to rely on speed or acceleration data
+                        */
+                       if (ao_k_height > to_fix32(20))
+#endif
 #else
                        if (
 #if HAS_ACCEL
@@ -616,8 +627,10 @@ ao_flight(void)
                                /* slow down the telemetry system */
                                ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 
+#if !USE_KALMAN
                                /* slow down the ADC sample rate */
                                ao_timer_set_adc_interval(10);
+#endif
 
                                /*
                                 * Start recording min/max accel and pres for a while