X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_kalman.c;h=203d727a07f4d837551539b74e9feb7a89e32f47;hp=ab97fc34b91db0673812d7fccd4f77bff11a3742;hb=fa7dd04741bf3fd9cedc59ed3b45b69ef9312609;hpb=e19a117b99e8374ca0e8e35948e23bc672ad1a32

diff --git a/src/ao_kalman.c b/src/ao_kalman.c
index ab97fc34..203d727a 100644
--- 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