altos: Improve TM v1.0 apogee estimate

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

diff --git a/src/util/make-kalman b/src/util/make-kalman
index f78f30a9791b53ca84ecb160b448f3314f367cd0..fd33bab0e9fab5b53bf4596c3e564de7247f35ad 100644 (file)
--- a/src/util/make-kalman
+++ b/src/util/make-kalman
@@ -1,15 +1,36 @@
-#!/bin/sh
+#!/bin/bash
 
-cd $1 >&/dev/null
+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"
+
+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 +38,4 @@ 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
+