diff options
| author | Keith Packard <keithp@keithp.com> | 2011-08-01 22:33:38 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-08-02 00:30:08 -0700 |
| commit | e19a117b99e8374ca0e8e35948e23bc672ad1a32 (patch) | |
| tree | c079f4bf51fbca4ff00dd5232698cd6ecd247436 /src/ao.h | |
| parent | 146a0ab223e8d9b376125d1e59f597f6d7851a9b (diff) | |
altos: Average height values for landing detection
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 <keithp@keithp.com>
Diffstat (limited to 'src/ao.h')
| -rw-r--r-- | src/ao.h | 1 |
1 files changed, 1 insertions, 0 deletions
@@ -829,6 +829,7 @@ 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 */ extern __pdata int16_t ao_max_height; /* max of ao_height */ +extern __pdata int16_t ao_avg_height; /* running average of height */ extern __pdata int16_t ao_error_h; extern __pdata int16_t ao_error_h_sq_avg; |