From: Keith Packard <keithp@keithp.com>
Date: Sun, 20 Mar 2011 06:51:02 +0000 (-0700)
Subject: altos: The kalman code requires a constant sample rate
X-Git-Tag: 0.9.3~121
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=ad6bb342d237988404fa32540b38c61d6ddc1f0d

altos: The kalman code requires a constant sample rate

The kalman function can't handle a variable sample rate, so keep the
ADC running at full speed for the whole flight instead of slowing it
down after apogee.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 71dd4891..493913b2 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -627,8 +627,10 @@ ao_flight(void)
 				/* slow down the telemetry system */
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 
+#if !USE_KALMAN
 				/* slow down the ADC sample rate */
 				ao_timer_set_adc_interval(10);
+#endif
 
 				/*
 				 * Start recording min/max accel and pres for a while