From b4fa98e69931126ab01f85072ef26cdb9fdf7377 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 16 Oct 2020 12:58:57 -0700 Subject: [PATCH] altos: Shorten accel-only integration ground interval Set interval to 64 samples for resetting the accumulated speed/height on the ground in accel-only configurations. Signed-off-by: Keith Packard --- src/kernel/ao_sample.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c index a7f50065..46771496 100644 --- a/src/kernel/ao_sample.c +++ b/src/kernel/ao_sample.c @@ -323,7 +323,7 @@ ao_sample_preflight_update(void) else ao_sample_preflight_set(); #if !HAS_BARO - if ((nsamples & 0x7f) == 0) + if ((nsamples & 0x3f) == 0) ao_kalman_reset_accumulate(); #endif } -- 2.30.2