mjb/altos/src/ao_kalman.c, branch debian/1.0

altos: use raw height while waiting for landing

2011-08-14T06:58:03+00:00

This avoids any noise introduced by the kalman filter, making landing detection much more reliable. This patch also changes the interval to 10s so that the height bounds can be increased to 4m. Signed-off-by: Keith Packard

altos: Reduce height averaging filter time constant

2011-08-02T08:53:33+00:00

Using the longer time constant could lead to false landing detection just after apogee, which is definitely not a good idea. Signed-off-by: Keith Packard

altos: Average height values for landing detection

2011-08-02T07:30:08+00:00

Instead of using the direct output of the kalman filter and hoping that is quiet enough to detect landing, filter that with a long exponential decay filter and then check to make sure that doesn't change more than 2m in 5 seconds as a trigger for landing detection. Tested with existing telemetrum flight logs and it correctly detects landing in all cases. Signed-off-by: Keith Packard

altos: Add ability to read new TELEM files to ao_flight_test

2011-07-18T01:49:55+00:00

Not that telem files are currently very useful as the kalman filter gets completly confused by the variable steps caused by missing data, but... Signed-off-by: Keith Packard

altos: Baro useful ceiling is MSL, not AGL

2011-04-01T03:53:12+00:00

Use MSL instead of AGL for detecting over-range baro sensor values. Always trust baro sensor during descent; it'll get there eventually. Signed-off-by: Keith Packard

altos: Split up flight code into separate flight/sample/kalman bits

2011-03-29T00:54:44+00:00

The flight code mashed together data processing, filtering and actual flight managament into one giant pile. Split things up so that we have: ao_sample.c: Sensor data processing. Reads the ring, handles calibration ao_kalman.c: Filter the data to track the accel/speed/height values ao_flight.c: Flight state management, specific to rocketry. The plan is to re-use ao_sample.c and ao_kalman.c for hardware not specifically designed for rocketry, like TeleNano. Signed-off-by: Keith Packard