altos: Send SPI message at flight state changes

[fw/altos] / src / ao_kalman.c

diff --git a/src/ao_kalman.c b/src/ao_kalman.c
index ab97fc34b91db0673812d7fccd4f77bff11a3742..203d727a07f4d837551539b74e9feb7a89e32f47 100644 (file)
--- a/src/ao_kalman.c
+++ b/src/ao_kalman.c
@@ -277,18 +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_height;
 #ifdef AO_FLIGHT_TEST
-       if (ao_sample_tick - ao_sample_prev_tick > 50) {
-               ao_avg_height = ao_height;
-       } else if (ao_sample_tick - ao_sample_prev_tick > 5) {
-               ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_height;
-               ao_avg_height = (ao_avg_height_scaled + 3) >> 2;
-       } else 
+       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_scaled = ao_avg_height_scaled - ao_avg_height + ao_height;
-               ao_avg_height = (ao_avg_height_scaled + 15) >> 5;
-       }
+               ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
 #ifdef AO_FLIGHT_TEST
        ao_sample_prev_tick = ao_sample_tick;
 #endif