-vpath % ..:../core:../drivers
+vpath % ..:../core:../drivers:../util
-PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_gps_test ao_gps_test_skytraq ao_convert_test
+PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_gps_test ao_gps_test_skytraq ao_convert_test
+
+KALMAN=make-kalman
CFLAGS=-I.. -I. -I../core -I../drivers -O0 -g
ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
cc $(CFLAGS) -o $@ $<
+ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
+ cc -DNOISY_ACCEL=1 $(CFLAGS) -o $@ $<
+
ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
cc $(CFLAGS) -o $@ -DHAS_ACCEL=0 ao_flight_test.c
ao_convert_test: ao_convert_test.c ao_convert.c altitude.h
cc $(CFLAGS) -o $@ $<
+
+ao_kalman.h: $(KALMAN)
+ (cd .. && make ao_kalman.h)
\ No newline at end of file
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
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
+