altos: Add 100ms constants for baro Kalman filter

[fw/altos] / src / util / make-kalman

diff --git a/src/util/make-kalman b/src/util/make-kalman
index 397d60207c9ac82bddfaaf10e6adfc5a0fae9229..c630e9cbb049626f3d0a3767b969d704641ae243 100644 (file)
--- a/src/util/make-kalman
+++ b/src/util/make-kalman
@@ -5,11 +5,33 @@ cd $1 2> /dev/null 1>&2
 SIGMA_BOTH="-M 2 -H 6 -A 2"
 SIGMA_BARO="-M 2 -H 6 -A 2"
 SIGMA_ACCEL="-M 2 -H 4 -A 4"
+SIGMA_BOTH_NOISY_ACCEL="-M 2 -H 6 -A 3"
+SIGMA_MICRO="-M 10"
+
+echo '#if NOISY_ACCEL'
+echo
+echo '/* TeleMetrum v1.0 boards have noisy accelerometer values'
+echo ' * increase the sigma value for accel data to compensate.'
+echo ' * This improves the accuracy of apogee detection.'
+echo ' */'
+echo
+
+nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH_NOISY_ACCEL
+nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH_NOISY_ACCEL
+nickle kalman.5c -p AO_BOTH -c both -t 1 $SIGMA_BOTH_NOISY_ACCEL
+
+echo '#endif'
+echo
+echo '#ifndef AO_BOTH_K00_100'
+echo
 
 nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH
 nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH
 nickle kalman.5c -p AO_BOTH -c both -t 1 $SIGMA_BOTH
 
+echo '#endif'
+echo
+
 nickle kalman.5c -p AO_ACCEL -c accel -t 0.01 $SIGMA_ACCEL
 nickle kalman.5c -p AO_ACCEL -c accel -t 0.1 $SIGMA_ACCEL
 nickle kalman.5c -p AO_ACCEL -c accel -t 1 $SIGMA_ACCEL
@@ -17,3 +39,6 @@ nickle kalman.5c -p AO_ACCEL -c accel -t 1 $SIGMA_ACCEL
 nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA_BARO
 nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA_BARO
 nickle kalman.5c -p AO_BARO -c baro -t 1 $SIGMA_BARO
+
+nickle kalman_micro.5c -p AO_MK_BARO -c baro -t 0.096 $SIGMA_MICRO
+nickle kalman_micro.5c -p AO_MK2_BARO -c baro -t 0.1 $SIGMA_MICRO