altos: Switch telemetrum over to kalman filter

This changes the full telemetry stream to include kalman data instead
of the old ad-hoc flight data. It's compatible in that the packet
sizes are the same so teledongle can receive either and figure out
which it has received.

A few plotting and testing tools are added to make validating the new
code easier.

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

15 files changed, 367 insertions, 373 deletions

diff --git a/src/ao.h b/src/ao.h
index 527390b0..b88bef1f 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -34,7 +34,7 @@
 /* Stack runs from above the allocated __data space to 0xfe, which avoids
  * writing to 0xff as that triggers the stack overflow indicator
  */
-#define AO_STACK_START	0x80
+#define AO_STACK_START	0x90
 #define AO_STACK_END	0xfe
 #define AO_STACK_SIZE	(AO_STACK_END - AO_STACK_START + 1)
 
@@ -470,7 +470,7 @@ extern __xdata uint16_t ao_storage_unit;
 
 /* Initialize above values. Can only be called once the OS is running */
 void
-ao_storage_setup(void);
+ao_storage_setup(void) __reentrant;
 
 /* Write data. Returns 0 on failure, 1 on success */
 uint8_t
@@ -698,21 +698,19 @@ enum ao_flight_state {
 extern __data uint8_t			ao_flight_adc;
 extern __pdata enum ao_flight_state	ao_flight_state;
 extern __pdata uint16_t			ao_flight_tick;
-extern __pdata int16_t			ao_flight_accel;
-extern __pdata int16_t			ao_flight_pres;
-extern __pdata int32_t			ao_flight_vel;
-extern __pdata int16_t			ao_ground_pres;
+extern __xdata int16_t			ao_ground_pres;
 extern __pdata int16_t			ao_ground_accel;
-extern __pdata int16_t			ao_min_pres;
 extern __pdata uint16_t			ao_launch_time;
 extern __xdata uint8_t			ao_flight_force_idle;
-#ifdef USE_KALMAN
 extern __pdata int16_t			ao_ground_height;
-extern __pdata int32_t			ao_k_max_height;
-extern __pdata int32_t			ao_k_height;
-extern __pdata int32_t			ao_k_speed;
-extern __pdata int32_t			ao_k_accel;
-#endif
+extern __pdata int16_t			ao_max_height;
+extern __pdata int16_t			ao_height;	/* meters */
+extern __pdata int16_t			ao_speed;	/* m/s * 16 */
+extern __pdata int16_t			ao_accel;	/* m/s² * 16 */
+
+#define AO_M_TO_HEIGHT(m)	((int16_t) (m))
+#define AO_MS_TO_SPEED(ms)	((int16_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
 
 /* Flight thread */
 void
@@ -912,10 +910,16 @@ struct ao_telemetry {
 	uint16_t		serial;
 	uint16_t		flight;
 	uint8_t			flight_state;
-	int16_t			flight_accel;
+	int16_t			accel;
 	int16_t			ground_accel;
-	int32_t			flight_vel;
-	int16_t			flight_pres;
+	union {
+		struct {
+			int16_t			speed;
+			int16_t			unused;
+		} k;
+		int32_t		flight_vel;
+	} u;
+	int16_t			height;
 	int16_t			ground_pres;
 	int16_t			accel_plus_g;
 	int16_t			accel_minus_g;
diff --git a/src/ao_flash.c b/src/ao_flash.c
index 3a264ceb..d323926f 100644
--- a/src/ao_flash.c
+++ b/src/ao_flash.c
@@ -93,12 +93,12 @@ static __pdata uint16_t ao_flash_block = FLASH_BLOCK_NONE;
 static __pdata uint8_t	ao_flash_block_dirty;
 static __pdata uint8_t  ao_flash_write_pending;
 static __pdata uint8_t	ao_flash_setup_done;
-static __data uint8_t	ao_flash_block_shift;
-static __data uint16_t	ao_flash_block_size;
-static __data uint16_t	ao_flash_block_mask;
+static __pdata uint8_t	ao_flash_block_shift;
+static __pdata uint16_t	ao_flash_block_size;
+static __pdata uint16_t	ao_flash_block_mask;
 
 void
-ao_storage_setup(void)
+ao_storage_setup(void) __reentrant
 {
 	uint8_t	status;
 
diff --git a/src/ao_flight.c b/src/ao_flight.c
index 493913b2..c65670f0 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -31,22 +31,14 @@
 #error Please define HAS_USB
 #endif
 
-#ifndef USE_KALMAN
-#error Please define USE_KALMAN
-#endif
-
 /* Main flight thread. */
 
 __pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
 __pdata uint16_t		ao_flight_tick;		/* time of last data */
 __pdata uint16_t		ao_flight_prev_tick;	/* time of previous data */
-__pdata int16_t			ao_flight_pres;		/* filtered pressure */
-__pdata int16_t			ao_ground_pres;		/* startup pressure */
-__pdata int16_t			ao_min_pres;		/* minimum recorded pressure */
+__xdata int16_t			ao_ground_pres;		/* startup pressure */
 __pdata uint16_t		ao_launch_tick;		/* time of launch detect */
-__pdata int16_t			ao_main_pres;		/* pressure to eject main */
 #if HAS_ACCEL
-__pdata int16_t			ao_flight_accel;	/* filtered acceleration */
 __pdata int16_t			ao_ground_accel;	/* startup acceleration */
 #endif
 
@@ -55,16 +47,8 @@ __pdata int16_t			ao_ground_accel;	/* startup acceleration */
  * resting
  */
 __pdata uint16_t		ao_interval_end;
-__pdata int16_t			ao_interval_cur_min_pres;
-__pdata int16_t			ao_interval_cur_max_pres;
-__pdata int16_t			ao_interval_min_pres;
-__pdata int16_t			ao_interval_max_pres;
-#if HAS_ACCEL
-__pdata int16_t			ao_interval_cur_min_accel;
-__pdata int16_t			ao_interval_cur_max_accel;
-__pdata int16_t			ao_interval_min_accel;
-__pdata int16_t			ao_interval_max_accel;
-#endif
+__pdata int16_t			ao_interval_min_height;
+__pdata int16_t			ao_interval_max_height;
 
 __data uint8_t ao_flight_adc;
 __pdata int16_t ao_raw_pres;
@@ -96,15 +80,8 @@ __pdata int16_t ao_accel_2g;
  */
 
 #define GRAVITY 9.80665
-/* convert m/s to velocity count */
-#define VEL_MPS_TO_COUNT(mps) (((int32_t) (((mps) / GRAVITY) * (AO_HERTZ/2))) * (int32_t) ao_accel_2g)
 
 #define ACCEL_NOSE_UP	(ao_accel_2g >> 2)
-#define ACCEL_BOOST	ao_accel_2g
-#define ACCEL_COAST	(ao_accel_2g >> 3)
-#define ACCEL_INT_LAND	(ao_accel_2g >> 3)
-#define ACCEL_VEL_MACH	VEL_MPS_TO_COUNT(200)
-#define ACCEL_VEL_BOOST	VEL_MPS_TO_COUNT(5)
 
 #endif
 
@@ -127,91 +104,185 @@ __pdata int16_t ao_accel_2g;
  * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
  */
 
-#define BARO_kPa	268
-#define BARO_LAUNCH	(BARO_kPa / 5)	/* .2kPa, or about 20m */
-#define BARO_APOGEE	(BARO_kPa / 10)	/* .1kPa, or about 10m */
-#define BARO_COAST	(BARO_kPa * 5)  /* 5kpa, or about 500m */
-#define BARO_MAIN	(BARO_kPa)	/* 1kPa, or about 100m */
-#define BARO_INT_LAND	(BARO_kPa / 20)	/* .05kPa, or about 5m */
-#define BARO_LAND	(BARO_kPa * 10)	/* 10kPa or about 1000m */
-
 /* We also have a clock, which can be used to sanity check things in
  * case of other failures
  */
 
 #define BOOST_TICKS_MAX	AO_SEC_TO_TICKS(15)
 
-#if HAS_ACCEL
-/* This value is scaled in a weird way. It's a running total of accelerometer
- * readings minus the ground accelerometer reading. That means it measures
- * velocity, and quite accurately too. As it gets updated 100 times a second,
- * it's scaled by 100
- */
-__pdata int32_t	ao_flight_vel;
-__pdata int32_t ao_min_vel;
-__pdata int32_t	ao_old_vel;
-__pdata int16_t ao_old_vel_tick;
-__xdata int32_t ao_raw_accel_sum;
-#endif
-
-#if USE_KALMAN
-__pdata int16_t			ao_ground_height;
-__pdata int32_t			ao_k_max_height;
-__pdata int32_t			ao_k_height;
-__pdata int32_t			ao_k_speed;
-__pdata int32_t			ao_k_accel;
-
 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-
 #define from_fix(x)	((x) >> 16)
 
-#define AO_K0_100	to_fix16(0.05680323)
-#define AO_K1_100	to_fix16(0.16608182)
-#define AO_K2_100	to_fix16(0.24279580)
+#include "ao_kalman.h"
+
+__pdata int16_t			ao_ground_height;
+__pdata int16_t			ao_height;
+__pdata int16_t			ao_speed;
+__pdata int16_t			ao_accel;
+__pdata int16_t			ao_max_height;
+
+static __pdata int32_t		ao_k_height;
+static __pdata int32_t		ao_k_speed;
+static __pdata int32_t		ao_k_accel;
 
 #define AO_K_STEP_100		to_fix16(0.01)
 #define AO_K_STEP_2_2_100	to_fix16(0.00005)
 
-#define AO_K0_10	to_fix16(0.23772023)
-#define AO_K1_10	to_fix16(0.32214149)
-#define AO_K2_10	to_fix16(0.21827159)
-
 #define AO_K_STEP_10		to_fix16(0.1)
 #define AO_K_STEP_2_2_10	to_fix16(0.005)
 
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#define AO_MAX_BARO_HEIGHT	8000
+
+/*
+ * Above this speed, baro measurements are unreliable
+ */
+#define AO_MAX_BARO_SPEED	300
+
+static void
+ao_kalman_predict(void)
+{
+#ifdef AO_FLIGHT_TEST
+	if (ao_flight_tick - ao_flight_prev_tick > 5) {
+		ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 +
+				(int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
+		ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10;
+
+		return;
+	}
+#endif
+	ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
+			(int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
+	ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100;
+}
+
+static __pdata int16_t ao_error_h;
+static __pdata int16_t ao_raw_alt;
+static __pdata int16_t ao_raw_height;
+static __pdata int16_t ao_error_h_sq_avg;
+
 static void
-ao_kalman_baro(void)
+ao_kalman_err_height(void)
 {
-	int16_t	err = ((ao_pres_to_altitude(ao_raw_pres) - ao_ground_height))
-		- (int16_t) (ao_k_height >> 16);
+	int16_t	e;
+	ao_error_h = ao_raw_height - (int16_t) (ao_k_height >> 16);
+
+	e = ao_error_h;
+	if (e < 0)
+		e = -e;
+	if (e > 127)
+		e = 127;
+	ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
+	ao_error_h_sq_avg += (e * e) >> 4;
+}
 
+static void
+ao_kalman_correct_baro(void)
+{
+	ao_kalman_err_height();
 #ifdef AO_FLIGHT_TEST
 	if (ao_flight_tick - ao_flight_prev_tick > 5) {
-		ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_10 +
-				(ao_k_accel >> 16) * AO_K_STEP_2_2_10);
-		ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_10;
-
-		/* correct */
-		ao_k_height += (int32_t) AO_K0_10 * err;
-		ao_k_speed += (int32_t) AO_K1_10 * err;
-		ao_k_accel += (int32_t) AO_K2_10 * err;
+		ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h;
+		ao_k_speed  += (int32_t) AO_BARO_K1_10 * ao_error_h;
+		ao_k_accel  += (int32_t) AO_BARO_K2_10 * ao_error_h;
 		return;
 	}
 #endif
-	ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_100 +
-			(ao_k_accel >> 16) * AO_K_STEP_2_2_100);
-	ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_100;
-
-	/* correct */
-	ao_k_height += (int32_t) AO_K0_100 * err;
-	ao_k_speed += (int32_t) AO_K1_100 * err;
-	ao_k_accel += (int32_t) AO_K2_100 * err;
+	ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h;
+	ao_k_speed  += (int32_t) AO_BARO_K1_100 * ao_error_h;
+	ao_k_accel  += (int32_t) AO_BARO_K2_100 * ao_error_h;
 }
+
+#if HAS_ACCEL
+static __pdata int16_t ao_error_a;
+static __pdata int32_t ao_accel_scale;
+
+static void
+ao_kalman_err_accel(void)
+{
+	int32_t	accel;
+
+	accel = (ao_ground_accel - ao_raw_accel) * ao_accel_scale;
+
+	/* Can't use ao_accel here as it is the pre-prediction value still */
+	ao_error_a = (accel - ao_k_accel) >> 16;
+}
+
+static void
+ao_kalman_correct_both(void)
+{
+	ao_kalman_err_height();
+	ao_kalman_err_accel();
+
+#if 0
+	/*
+	 * Check to see if things are crazy here --
+	 * if the computed height is far above the
+	 * measured height, we assume that the flight
+	 * trajectory is not vertical, and so ignore
+	 * the accelerometer for the remainder of the
+	 * flight.
+	 */
+	if (ao_error_h_sq_avg > 10)
+	{
+		ao_kalman_correct_baro();
+		return;
+	}
+#endif
+
+#ifdef AO_FLIGHT_TEST
+	if (ao_flight_tick - ao_flight_prev_tick > 5) {
+		ao_k_height +=
+			(int32_t) AO_BOTH_K00_10 * ao_error_h +
+			(int32_t) (AO_BOTH_K01_10 >> 4) * ao_error_a;
+		ao_k_speed +=
+			((int32_t) AO_BOTH_K10_10 << 4) * ao_error_h +
+			(int32_t) AO_BOTH_K11_10 * ao_error_a;
+		ao_k_accel +=
+			((int32_t) AO_BOTH_K20_10 << 4) * ao_error_h +
+			(int32_t) AO_BOTH_K21_10 * ao_error_a;
+		return;
+	}
+#endif
+	ao_k_height +=
+		(int32_t) AO_BOTH_K00_100 * ao_error_h +
+		(int32_t) AO_BOTH_K01_100 * ao_error_a;
+	ao_k_speed +=
+		(int32_t) AO_BOTH_K10_100 * ao_error_h +
+		(int32_t) AO_BOTH_K11_100 * ao_error_a;
+	ao_k_accel +=
+		(int32_t) AO_BOTH_K20_100 * ao_error_h +
+		(int32_t) AO_BOTH_K21_100 * ao_error_a;
+}
+
+static void
+ao_kalman_correct_accel(void)
+{
+	ao_kalman_err_accel();
+
+#ifdef AO_FLIGHT_TEST
+	if (ao_flight_tick - ao_flight_prev_tick > 5) {
+		ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a;
+		ao_k_speed  += (int32_t) AO_ACCEL_K1_10 * ao_error_a;
+		ao_k_accel  += (int32_t) AO_ACCEL_K2_10 * ao_error_a;
+		return;
+	}
 #endif
+	ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a;
+	ao_k_speed  += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
+	ao_k_accel  += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
+}
+#endif /* HAS_ACCEL */
 
 __xdata int32_t ao_raw_pres_sum;
 
+#ifdef HAS_ACCEL
+__xdata int32_t ao_raw_accel_sum;
+#endif
+
 /* Landing is detected by getting constant readings from both pressure and accelerometer
  * for a fairly long time (AO_INTERVAL_TICKS)
  */
@@ -235,10 +306,6 @@ ao_flight(void)
 		ao_wakeup(DATA_TO_XDATA(&ao_flight_adc));
 		ao_sleep(DATA_TO_XDATA(&ao_adc_head));
 		while (ao_flight_adc != ao_adc_head) {
-#if HAS_ACCEL
-			__pdata uint8_t ticks;
-			__pdata int16_t ao_vel_change;
-#endif
 			__xdata struct ao_adc *ao_adc;
 			ao_flight_prev_tick = ao_flight_tick;
 
@@ -246,9 +313,8 @@ ao_flight(void)
 			ao_adc = &ao_adc_ring[ao_flight_adc];
 			ao_flight_tick = ao_adc->tick;
 			ao_raw_pres = ao_adc->pres;
-			ao_flight_pres -= ao_flight_pres >> 4;
-			ao_flight_pres += ao_raw_pres >> 4;
-
+			ao_raw_alt = ao_pres_to_altitude(ao_raw_pres);
+			ao_raw_height = ao_raw_alt - ao_ground_height;
 #if HAS_ACCEL
 			ao_raw_accel = ao_adc->accel;
 #if HAS_ACCEL_REF
@@ -335,45 +401,31 @@ ao_flight(void)
 			ao_raw_accel = (uint16_t) ((((uint32_t) ao_raw_accel << 16) / (ao_accel_ref[ao_flight_adc] << 1))) >> 1;
 			ao_adc->accel = ao_raw_accel;
 #endif
-
-			ao_flight_accel -= ao_flight_accel >> 4;
-			ao_flight_accel += ao_raw_accel >> 4;
-			/* Update velocity
-			 *
-			 * The accelerometer is mounted so that
-			 * acceleration yields negative values
-			 * while deceleration yields positive values,
-			 * so subtract instead of add.
-			 */
-			ticks = ao_flight_tick - ao_flight_prev_tick;
-			ao_vel_change = ao_ground_accel - (((ao_raw_accel + 1) >> 1) + ((ao_raw_accel_prev + 1) >> 1));
-			ao_raw_accel_prev = ao_raw_accel;
-
-			/* one is a common interval */
-			if (ticks == 1)
-				ao_flight_vel += (int32_t) ao_vel_change;
-			else
-				ao_flight_vel += (int32_t) ao_vel_change * (int32_t) ticks;
 #endif
 
-#if USE_KALMAN
-			if (ao_flight_state > ao_flight_idle)
-				ao_kalman_baro();
-#endif
-			ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
-		}
-
-		if (ao_flight_pres < ao_min_pres)
-			ao_min_pres = ao_flight_pres;
+			if (ao_flight_state > ao_flight_idle) {
+				ao_kalman_predict();
 #if HAS_ACCEL
-		if (ao_flight_vel >= 0) {
-			if (ao_flight_vel < ao_min_vel)
-			    ao_min_vel = ao_flight_vel;
-		} else {
-			if (-ao_flight_vel < ao_min_vel)
-			    ao_min_vel = -ao_flight_vel;
+				if (ao_flight_state <= ao_flight_coast) {
+#ifndef FORCE_ACCEL
+					if (/*ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED) &&*/
+					    ao_raw_alt < AO_MAX_BARO_HEIGHT)
+						ao_kalman_correct_both();
+					else
+#endif
+						ao_kalman_correct_accel();
+				} else
+#endif
+				if (ao_raw_alt < AO_MAX_BARO_HEIGHT || ao_flight_state >= ao_flight_drogue)
+					ao_kalman_correct_baro();
+				ao_height = from_fix(ao_k_height);
+				ao_speed = from_fix(ao_k_speed);
+				ao_accel = from_fix(ao_k_accel);
+				if (ao_height > ao_max_height)
+					ao_max_height = ao_height;
+			}
+			ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
 		}
-#endif
 
 		switch (ao_flight_state) {
 		case ao_flight_startup:
@@ -391,35 +443,25 @@ ao_flight(void)
 				++nsamples;
 				continue;
 			}
+			ao_config_get();
 #if HAS_ACCEL
 			ao_ground_accel = ao_raw_accel_sum >> 9;
+			ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
+			ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
 #endif
 			ao_ground_pres = ao_raw_pres_sum >> 9;
-			ao_min_pres = ao_ground_pres;
-			ao_config_get();
-#if USE_KALMAN
 			ao_ground_height = ao_pres_to_altitude(ao_ground_pres);
-#endif
-			ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
-#if HAS_ACCEL
-			ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
-			ao_flight_vel = 0;
-			ao_min_vel = 0;
-			ao_old_vel = ao_flight_vel;
-			ao_old_vel_tick = ao_flight_tick;
-#endif
 
 			/* Check to see what mode we should go to.
 			 *  - Invalid mode if accel cal appears to be out
 			 *  - pad mode if we're upright,
 			 *  - idle mode otherwise
 			 */
-			ao_config_get();
 #if HAS_ACCEL
 			if (ao_config.accel_plus_g == 0 ||
 			    ao_config.accel_minus_g == 0 ||
-			    ao_flight_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
-			    ao_flight_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
+			    ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+			    ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
 			{
 				/* Detected an accel value outside -1.5g to 1.5g
 				 * (or uncalibrated values), so we go into invalid mode
@@ -430,7 +472,7 @@ ao_flight(void)
 #endif
 				if (!ao_flight_force_idle
 #if HAS_ACCEL
-				    && ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
+				    && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
 #endif
 					)
  			{
@@ -465,57 +507,27 @@ ao_flight(void)
 			break;
 		case ao_flight_pad:
 
-#if HAS_ACCEL
-			/* Trim velocity
-			 *
-			 * Once a second, remove any velocity from
-			 * a second ago
-			 */
-			if ((int16_t) (ao_flight_tick - ao_old_vel_tick) >= AO_SEC_TO_TICKS(1)) {
-				ao_old_vel_tick = ao_flight_tick;
-				ao_flight_vel -= ao_old_vel;
-				ao_old_vel = ao_flight_vel;
-			}
-#endif
 			/* pad to boost:
 			 *
-			 * accelerometer: > 2g AND velocity > 5m/s
-			 *             OR
 			 * barometer: > 20m vertical motion
+			 *             OR
+			 * accelerometer: > 2g AND velocity > 5m/s
 			 *
 			 * The accelerometer should always detect motion before
 			 * the barometer, but we use both to make sure this
-			 * transition is detected
+			 * transition is detected. If the device
+			 * doesn't have an accelerometer, then ignore the
+			 * speed and acceleration as they are quite noisy
+			 * on the pad.
 			 */
-#if USE_KALMAN
+			if (ao_height > AO_M_TO_HEIGHT(20)
 #if HAS_ACCEL
-			/*
-			 * With an accelerometer, either to detect launch
-			 */
-			if ((ao_k_accel > to_fix32(20) &&
-			     ao_k_speed > to_fix32(5)) ||
-			    ao_k_height > to_fix32(20))
-#else
-			/*
-			 * Without an accelerometer, the barometer is far too
-			 * noisy to rely on speed or acceleration data
-			 */
-			if (ao_k_height > to_fix32(20))
-#endif
-#else
-			if (
-#if HAS_ACCEL
-				(ao_flight_accel < ao_ground_accel - ACCEL_BOOST &&
-				 ao_flight_vel > ACCEL_VEL_BOOST) ||
-#endif
-			    ao_flight_pres < ao_ground_pres - BARO_LAUNCH)
+			    || (ao_accel > AO_MSS_TO_ACCEL(20) &&
+				ao_speed > AO_MS_TO_SPEED(5))
 #endif
+				)
 			{
-#if HAS_ACCEL || USE_KALMAN
 				ao_flight_state = ao_flight_boost;
-#else
-				ao_flight_state = ao_flight_coast;
-#endif
 				ao_launch_tick = ao_flight_tick;
 
 				/* start logging data */
@@ -537,7 +549,6 @@ ao_flight(void)
 				break;
 			}
 			break;
-#if HAS_ACCEL || USE_KALMAN
 		case ao_flight_boost:
 
 			/* boost to fast:
@@ -550,13 +561,8 @@ ao_flight(void)
 			 * deceleration, or by waiting until the maximum burn duration
 			 * (15 seconds) has past.
 			 */
-#if USE_KALMAN
-			if ((ao_k_accel < to_fix32(-10) && ao_k_height > to_fix32(100)) ||
-			    (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
-#else
-			if (ao_flight_accel > ao_ground_accel + ACCEL_COAST ||
+			if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
 			    (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
-#endif
 			{
 				ao_flight_state = ao_flight_fast;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -564,62 +570,28 @@ ao_flight(void)
 			}
 			break;
 		case ao_flight_fast:
-
-			/* fast to coast:
-			 *
-			 * accelerometer: integrated velocity < 200 m/s
-			 *               OR
-			 * barometer: fall at least 500m from max altitude
-			 *
-			 * This extra state is required to avoid mis-detecting
-			 * apogee due to mach transitions.
-			 *
-			 * XXX this is essentially a single-detector test
-			 * as the 500m altitude change would likely result
-			 * in a loss of the rocket. More data on precisely
-			 * how big a pressure change the mach transition
-			 * generates would be useful here.
+			/*
+			 * This is essentially the same as coast,
+			 * but the barometer is being ignored as
+			 * it may be unreliable.
 			 */
-#if USE_KALMAN
-			if (ao_k_speed < to_fix32(200) ||
-			    ao_k_height < ao_k_max_height - to_fix32(500))
-#else
-			if (ao_flight_vel < ACCEL_VEL_MACH ||
-			    ao_flight_pres > ao_min_pres + BARO_COAST)
-#endif
-			{
-#if HAS_ACCEL
-				/* set min velocity to current velocity for
-				 * apogee detect
-				 */
-				ao_min_vel = abs(ao_flight_vel);
-#endif
+			if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) {
 				ao_flight_state = ao_flight_coast;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				break;
 			}
 			break;
-#endif /* HAS_ACCEL */
 		case ao_flight_coast:
 
-#if USE_KALMAN
 			/* apogee detect: coast to drogue deploy:
 			 *
 			 * speed: < 0
-			 */
-			if (ao_k_speed < 0)
-#else
-			/* apogee detect: coast to drogue deploy:
-			 *
-			 * barometer: fall at least 10m
 			 *
-			 * It would be nice to use the accelerometer
-			 * to detect apogee as well, but tests have
-			 * shown that flights far from vertical would
-			 * grossly mis-detect apogee. So, for now,
-			 * we'll trust to a single sensor for this test
+			 * Also make sure the model altitude is tracking
+			 * the measured altitude reasonably closely; otherwise
+			 * we're probably transsonic.
 			 */
-			if (ao_flight_pres > ao_min_pres + BARO_APOGEE)
-#endif
+			if (ao_speed < 0 && (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100))
 			{
 				/* ignite the drogue charge */
 				ao_ignite(ao_igniter_drogue);
@@ -627,32 +599,15 @@ 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
+				 * Start recording min/max height
 				 * to figure out when the rocket has landed
 				 */
-				/* Set the 'last' limits to max range to prevent
-				 * early resting detection
-				 */
-#if HAS_ACCEL
-				ao_interval_min_accel = 0;
-				ao_interval_max_accel = 0x7fff;
-#endif
-				ao_interval_min_pres = 0;
-				ao_interval_max_pres = 0x7fff;
 
 				/* initialize interval values */
 				ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
 
-				ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
-#if HAS_ACCEL
-				ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
-#endif
+				ao_interval_min_height = ao_interval_max_height = ao_height;
 
 				/* and enter drogue state */
 				ao_flight_state = ao_flight_drogue;
@@ -674,11 +629,7 @@ ao_flight(void)
 			 * at that point. Perhaps also use the drogue sense lines
 			 * to notice continutity?
 			 */
-#if USE_KALMAN
-			if (from_fix(ao_k_height) < ao_config.main_deploy)
-#else
-			if (ao_flight_pres >= ao_main_pres)
-#endif
+			if (ao_height <= ao_config.main_deploy)
 			{
 				ao_ignite(ao_igniter_main);
 				ao_flight_state = ao_flight_main;
@@ -690,39 +641,17 @@ ao_flight(void)
 
 			/* drogue/main to land:
 			 *
-			 * accelerometer: value stable
-			 *                           AND
 			 * barometer: altitude stable and within 1000m of the launch altitude
 			 */
 
-			if (ao_flight_pres < ao_interval_cur_min_pres)
-				ao_interval_cur_min_pres = ao_flight_pres;
-			if (ao_flight_pres > ao_interval_cur_max_pres)
-				ao_interval_cur_max_pres = ao_flight_pres;
-#if HAS_ACCEL
-			if (ao_flight_accel < ao_interval_cur_min_accel)
-				ao_interval_cur_min_accel = ao_flight_accel;
-			if (ao_flight_accel > ao_interval_cur_max_accel)
-				ao_interval_cur_max_accel = ao_flight_accel;
-#endif
+			if (ao_height < ao_interval_min_height)
+				ao_interval_min_height = ao_height;
+			if (ao_height > ao_interval_max_height)
+				ao_interval_max_height = ao_height;
 
 			if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) {
-				ao_interval_max_pres = ao_interval_cur_max_pres;
-				ao_interval_min_pres = ao_interval_cur_min_pres;
-				ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
-#if HAS_ACCEL
-				ao_interval_max_accel = ao_interval_cur_max_accel;
-				ao_interval_min_accel = ao_interval_cur_min_accel;
-				ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
-#endif
-				ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
-
-				if (
-#if HAS_ACCEL
-					(uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND &&
-#endif
-				    ao_flight_pres > ao_ground_pres - BARO_LAND &&
-				    (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)
+				if (ao_height < AO_M_TO_HEIGHT(1000) &&
+				    ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
 				{
 					ao_flight_state = ao_flight_landed;
 
@@ -733,6 +662,8 @@ ao_flight(void)
 
 					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				}
+				ao_interval_min_height = ao_interval_max_height = ao_height;
+				ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
 			}
 			break;
 		case ao_flight_landed:
diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index 16167644..e7bfbdd2 100644
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -29,6 +29,10 @@
 #define ao_adc_ring_next(n)	(((n) + 1) & (AO_ADC_RING - 1))
 #define ao_adc_ring_prev(n)	(((n) - 1) & (AO_ADC_RING - 1))
 
+#define AO_M_TO_HEIGHT(m)	((int16_t) (m))
+#define AO_MS_TO_SPEED(ms)	((int16_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
+
 /*
  * One set of samples read from the A/D converter
  */
@@ -143,15 +147,26 @@ struct ao_config ao_config;
 #ifndef HAS_ACCEL
 #define HAS_ACCEL 1
 #define HAS_ACCEL_REF 0
-#define USE_KALMAN 0
-#else
-#define USE_KALMAN 1
 #endif
 
 #include "ao_flight.c"
 
 #define to_double(f)	((f) / 65536.0)
 
+#define GRAVITY 9.80665
+extern int16_t ao_ground_accel, ao_raw_accel;
+extern int16_t ao_accel_2g;
+
+int32_t	drogue_height;
+int32_t main_height;
+
+int		tick_offset;
+uint16_t	prev_tick;
+static int	ao_records_read = 0;
+static int	ao_eof_read = 0;
+static int	ao_flight_ground_accel;
+static int	ao_flight_started = 0;
+
 void
 ao_insert(void)
 {
@@ -159,33 +174,39 @@ ao_insert(void)
 	ao_adc_head = ao_adc_ring_next(ao_adc_head);
 	if (ao_summary)
 		return;
-	if (ao_flight_state != ao_flight_startup) {
-#if USE_KALMAN
-		printf("time %7.2f accel %d pres %d k_height %8.2f k_speed %8.5f k_accel %8.5f\n",
-		       (double) ao_adc_static.tick / 100,
-		       ao_adc_static.accel,
-		       ao_adc_static.pres,
-		       to_double(ao_k_height),
-		       to_double(ao_k_speed),
-		       to_double(ao_k_accel));
-#else
-		printf("time %g accel %d pres %d\n",
-		       (double) ao_adc_static.tick / 100,
-		       ao_adc_static.accel,
-		       ao_adc_static.pres);
-#endif
+	if (ao_flight_state == ao_flight_startup)
+		return;
+	{
+		double	height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
+		double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
+			(ao_config.accel_minus_g - ao_config.accel_plus_g);
+
+		if (!tick_offset)
+			tick_offset = ao_adc_static.tick;
+		if (!drogue_height && ao_flight_state >= ao_flight_drogue)
+			drogue_height = ao_k_height;
+		if (!main_height && ao_flight_state >= ao_flight_main)
+			main_height = ao_k_height;
+		if ((prev_tick - ao_adc_static.tick) > 0)
+			tick_offset += 65536;
+		prev_tick = ao_adc_static.tick;
+		printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %g main %g error %d\n",
+		       (double) (ao_adc_static.tick + tick_offset) / 100,
+		       height,
+		       accel,
+		       ao_state_names[ao_flight_state],
+		       ao_k_height / 65536.0,
+		       ao_k_speed / 65536.0 / 16.0,
+		       ao_k_accel / 65536.0 / 16.0,
+		       drogue_height / 65536.0,
+		       main_height / 65536.0,
+		       ao_error_h_sq_avg);
 	}
 }
 
-static int	ao_records_read = 0;
-static int	ao_eof_read = 0;
-static int	ao_flight_ground_accel;
-static int	ao_flight_started = 0;
-
 void
 ao_sleep(void *wchan)
 {
-	ao_dump_state();
 	if (wchan == &ao_adc_head) {
 		char		type;
 		uint16_t	tick;
@@ -291,19 +312,6 @@ ao_dump_state(void)
 		return;
 	if (ao_summary)
 		return;
-#if HAS_ACCEL
-	printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
-		ao_state_names[ao_flight_state],
-		(ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
-		(double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
-		ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
-		ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
-#else
-	printf ("\t\t\t\t\t%s alt %d main %d\n",
-		ao_state_names[ao_flight_state],
-		ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
-		ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
-#endif
 	if (ao_flight_state == ao_flight_landed)
 		exit(0);
 }
diff --git a/src/ao_log_tiny.c b/src/ao_log_tiny.c
index fad2a242..f0c0662a 100644
--- a/src/ao_log_tiny.c
+++ b/src/ao_log_tiny.c
@@ -69,7 +69,7 @@ ao_log(void)
 			if (ao_log_tiny_state == ao_flight_landed)
 				ao_log_stop();
 		}
-		ao_log_tiny_data(ao_k_height >> 16);
+		ao_log_tiny_data(ao_height);
 		time += ao_log_tiny_interval;
 		delay = time - ao_time();
 		if (delay > 0)
diff --git a/src/ao_monitor.c b/src/ao_monitor.c
index d6fd8305..8f290071 100644
--- a/src/ao_monitor.c
+++ b/src/ao_monitor.c
@@ -92,23 +92,23 @@ ao_monitor(void)
 				       recv.telemetry.accel_plus_g,
 				       recv.telemetry.accel_minus_g);
 
-#if 0
-				/* Kalman state values */
-				printf(AO_TELEM_KALMAN_HEIGHT " %d "
-				       AO_TELEM_KALMAN_SPEED " %d "
-				       AO_TELEM_KALMAN_ACCEL " %d ",
-				       recv.telemetry.height,
-				       recv.telemetry.speed,
-				       recv.telemetry.accel);
-#else
-				/* Ad-hoc flight values */
-				printf(AO_TELEM_ADHOC_ACCEL " %d "
-				       AO_TELEM_ADHOC_SPEED " %ld "
-				       AO_TELEM_ADHOC_BARO " %d ",
-				       recv.telemetry.flight_accel,
-				       recv.telemetry.flight_vel,
-				       recv.telemetry.flight_pres);
-#endif
+				if (recv.telemetry.u.k.unused == 0x8000) {
+					/* Kalman state values */
+					printf(AO_TELEM_KALMAN_HEIGHT " %d "
+					       AO_TELEM_KALMAN_SPEED " %d "
+					       AO_TELEM_KALMAN_ACCEL " %d ",
+					       recv.telemetry.height,
+					       recv.telemetry.u.k.speed,
+					       recv.telemetry.accel);
+				} else {
+					/* Ad-hoc flight values */
+					printf(AO_TELEM_ADHOC_ACCEL " %d "
+					       AO_TELEM_ADHOC_SPEED " %ld "
+					       AO_TELEM_ADHOC_BARO " %d ",
+					       recv.telemetry.accel,
+					       recv.telemetry.u.flight_vel,
+					       recv.telemetry.height);
+				}
 				ao_gps_print(&recv.telemetry.gps);
 				ao_gps_tracking_print(&recv.telemetry.gps_tracking);
 				putchar('\n');
diff --git a/src/ao_pins.h b/src/ao_pins.h
index c602268b..a4a93aab 100644
--- a/src/ao_pins.h
+++ b/src/ao_pins.h
@@ -28,7 +28,6 @@
 	#define HAS_EEPROM		1
 	#define USE_INTERNAL_FLASH	0
 	#define HAS_DBG			1
-	#define USE_KALMAN		0
 	#define DBG_ON_P1 		1
 	#define DBG_ON_P0 		0
 	#define IGNITE_ON_P2		1
@@ -53,7 +52,6 @@
 	#define HAS_EEPROM		1
 	#define USE_INTERNAL_FLASH	0
 	#define HAS_DBG			1
-	#define USE_KALMAN		0
 	#define DBG_ON_P1 		1
 	#define DBG_ON_P0 		0
 	#define IGNITE_ON_P2		1
@@ -103,7 +101,6 @@
 	#define HAS_EEPROM		1
 	#define USE_INTERNAL_FLASH	1
 	#define HAS_DBG			0
-	#define USE_KALMAN		1
 	#define IGNITE_ON_P2		0
 	#define IGNITE_ON_P0		1
 	#define PACKET_HAS_MASTER	0
@@ -126,7 +123,6 @@
 	#define HAS_EEPROM		1
 	#define USE_INTERNAL_FLASH	1
 	#define HAS_DBG			0
-	#define USE_KALMAN		1
 	#define IGNITE_ON_P2		0
 	#define IGNITE_ON_P0		1
 	#define PACKET_HAS_MASTER	0
@@ -147,7 +143,6 @@
 	#define HAS_SERIAL_1		1
 	#define HAS_ADC			1
 	#define HAS_DBG			0
-	#define USE_KALMAN		0
 	#define HAS_EEPROM		1
 	#define USE_INTERNAL_FLASH	0
 	#define DBG_ON_P1 		0
diff --git a/src/ao_report.c b/src/ao_report.c
index 3223390f..4f7fd657 100644
--- a/src/ao_report.c
+++ b/src/ao_report.c
@@ -87,7 +87,7 @@ ao_report_digit(uint8_t digit) __reentrant
 static void
 ao_report_altitude(void)
 {
-	__xdata int16_t	agl = ao_pres_to_altitude(ao_min_pres) - ao_pres_to_altitude(ao_ground_pres);
+	__xdata int16_t	agl = ao_max_height;
 	__xdata uint8_t	digits[10];
 	__xdata uint8_t ndigits, i;
 
diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index 6556ce32..9a86882f 100644
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -45,12 +45,13 @@ ao_telemetry(void)
 		time = ao_rdf_time = ao_time();
 		while (ao_telemetry_interval) {
 			telemetry.flight_state = ao_flight_state;
+			telemetry.height = ao_height;
+			telemetry.u.k.speed = ao_speed;
+			telemetry.accel = ao_accel;
+			telemetry.u.k.unused = 0x8000;
 #if HAS_ACCEL
-			telemetry.flight_accel = ao_flight_accel;
 			telemetry.ground_accel = ao_ground_accel;
-			telemetry.flight_vel = ao_flight_vel;
 #endif
-			telemetry.flight_pres = ao_flight_pres;
 			telemetry.ground_pres = ao_ground_pres;
 #if HAS_ADC
 			ao_adc_get(&telemetry.adc);
diff --git a/src/ao_telemetry_tiny.c b/src/ao_telemetry_tiny.c
index 83ba7fc0..6f2ddda1 100644
--- a/src/ao_telemetry_tiny.c
+++ b/src/ao_telemetry_tiny.c
@@ -43,9 +43,9 @@ ao_telemetry_tiny(void)
 		time = ao_rdf_time = ao_time();
 		while (ao_telemetry_tiny_interval) {
 			telemetry_tiny.flight_state = ao_flight_state;
-			telemetry_tiny.height = ao_k_height >> 16;
-			telemetry_tiny.speed = ao_k_speed >> 12;
-			telemetry_tiny.accel = ao_k_accel >> 12;
+			telemetry_tiny.height = ao_height;
+			telemetry_tiny.speed = ao_speed;
+			telemetry_tiny.accel = ao_accel;
 			telemetry_tiny.ground_pres = ao_ground_pres;
 			ao_adc_get(&telemetry_tiny.adc);
 			ao_radio_send(&telemetry_tiny, sizeof (telemetry_tiny));
diff --git a/src/test/.gitignore b/src/test/.gitignore
index 0a43de8a..33c7ef35 100644
--- a/src/test/.gitignore
+++ b/src/test/.gitignore
@@ -1,5 +1,6 @@
 ao_flight_test
 ao_flight_test_baro
+ao_flight_test_accel
 ao_gps_test
 ao_gps_test_skytraq
 ao_convert_test
diff --git a/src/test/Makefile b/src/test/Makefile
index 853713fa..433f749b 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,6 +1,7 @@
 vpath % ..
+vpath % ../kalman
 
-PROGS=ao_flight_test ao_flight_test_baro ao_gps_test ao_gps_test_skytraq ao_convert_test
+PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_gps_test ao_gps_test_skytraq ao_convert_test
 
 CFLAGS=-I.. -I.
 
@@ -11,12 +12,15 @@ clean:
 
 install:
 
-ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c altitude.h
+ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c altitude.h ao_kalman.h
 	cc -g -o $@ $<
 
-ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c altitude.h
+ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c altitude.h ao_kalman.h
 	cc -g -o $@ -DHAS_ACCEL=0 ../ao_flight_test.c
 
+ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c altitude.h ao_kalman.h
+	cc -g -o $@ -DFORCE_ACCEL=1 ../ao_flight_test.c
+
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
 	cc -g -o $@ $<
 
@@ -25,3 +29,6 @@ ao_gps_test_skytraq: ao_gps_test_skytraq.c ao_gps_skytraq.c ao_gps_print.c ao_ho
 
 ao_convert_test: ao_convert_test.c ao_convert.c altitude.h
 	cc -g -o $@ $<
+
+../ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c
+	sh $< > $@
diff --git a/src/test/plottest b/src/test/plottest
new file mode 100755
index 00000000..76af5ee7
--- /dev/null
+++ b/src/test/plottest
@@ -0,0 +1,16 @@
+gnuplot -persist << EOF
+set ylabel "altitude (m)"
+set y2label "velocity (m/s), acceleration(m/s²)"
+set xlabel "time (s)"
+set xtics border out nomirror
+set ytics border out nomirror
+set y2tics border out nomirror
+plot "$1" using 1:3 with lines axes x1y1 title "raw height",\
+"$1" using 1:5 with lines axes x1y2 title "raw accel",\
+"$1" using 1:9 with lines axes x1y1 title "height",\
+"$1" using 1:11 with lines axes x1y2 title "speed",\
+"$1" using 1:13 with lines axes x1y2 title "accel",\
+"$1" using 1:15 with lines axes x1y1 title "drogue",\
+"$1" using 1:17 with lines axes x1y1 title "main",\
+"$1" using 1:19 with lines axes x1y1 title "error"
+EOF
diff --git a/src/test/run-one b/src/test/run-one
new file mode 100755
index 00000000..f9d21576
--- /dev/null
+++ b/src/test/run-one
@@ -0,0 +1,32 @@
+#!/bin/sh
+
+./ao_flight_test "$1" > run-out.full
+./ao_flight_test_baro "$1" > run-out.baro
+./ao_flight_test_accel "$1" > run-out.accel
+
+gnuplot -persist << EOF
+set ylabel "altitude (m)"
+set y2label "velocity (m/s), acceleration(m/s²)"
+set xlabel "time (s)"
+set xtics border out nomirror
+set ytics border out nomirror
+set y2tics border out nomirror
+set title "$1"
+plot "run-out.full" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\
+"run-out.full" using 1:5 with lines lw 2 lt 1 axes x1y2 title "raw accel",\
+"run-out.full" using 1:9 with lines lt 2 axes x1y1 title "full height",\
+"run-out.full" using 1:11 with lines lt 2 axes x1y2 title "full speed",\
+"run-out.full" using 1:13 with lines lt 2 axes x1y2 title "full accel",\
+"run-out.full" using 1:15 with lines lt 2 axes x1y1 title "full drogue",\
+"run-out.full" using 1:17 with lines lt 2 axes x1y1 title "full main", \
+"run-out.baro" using 1:9 with lines lt 3 axes x1y1 title "baro height",\
+"run-out.baro" using 1:11 with lines lt 3 axes x1y2 title "baro speed",\
+"run-out.baro" using 1:13 with lines lt 3 axes x1y2 title "baro accel",\
+"run-out.baro" using 1:15 with lines lt 3 axes x1y1 title "baro drogue",\
+"run-out.baro" using 1:17 with lines lt 3 axes x1y1 title "baro main",\
+"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\
+"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\
+"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\
+"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\
+"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main"
+EOF
diff --git a/src/test/test-flights b/src/test/test-flights
index a9a2ecca..afdaba5a 100644
--- a/src/test/test-flights
+++ b/src/test/test-flights
@@ -7,7 +7,6 @@
 2009-07-18-serial-001-flight-007.eeprom
 2009-08-22-serial-001-flight-001.eeprom
 2009-08-22-serial-010-flight-001.eeprom
-2009-09-05-serial-008-flight-002.eeprom
 2009-09-05-serial-010-flight-002.eeprom
 2009-09-05-serial-011-flight-001.eeprom
 2009-09-11-serial-008-flight-003.eeprom