From ad6bb342d237988404fa32540b38c61d6ddc1f0d Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 19 Mar 2011 23:51:02 -0700 Subject: [PATCH] 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 --- src/ao_flight.c | 2 ++ 1 file changed, 2 insertions(+) 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 -- 2.30.2