altos: Don't eliminate baro above mach speed, just trust it less

[fw/altos] / src / kernel / ao_kalman.c

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index d401a3c8ff5bd04a88c7dea0216d53abcd145589..82315c485de086b7f3b0cb64a462a878ac620119 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -96,25 +96,20 @@ 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;
        height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
 #if HAS_ACCEL
-       /* speed is stored * 16, but we need to ramp between 200 and 328, so
+       /* speed is stored * 16, but we need to ramp between 248 and 328, so
         * we want to multiply by 2. The result is a shift by 3.
         */
        speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1);
-       if (speed_distrust <= 0)
-               speed_distrust = 0;
-       else if (speed_distrust > height_distrust)
+       if (speed_distrust > AO_MAX_SPEED_DISTRUST)
+               speed_distrust = AO_MAX_SPEED_DISTRUST;
+       if (speed_distrust > height_distrust)
                height_distrust = speed_distrust;
 #endif
        if (height_distrust > 0) {