diff options
| author | Keith Packard <keithp@keithp.com> | 2011-10-08 22:19:52 -0600 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-10-08 22:23:16 -0600 |
| commit | ca036c5616c3e745c0b878ed90618d4ff710c0e5 (patch) | |
| tree | e695913d8b6ad4ae65ed3d22811fcda08fedffca /src/test | |
| parent | 26d7eb7149da8c797d7e704d75f73af2d2aa52c2 (diff) | |
altos: Improve TM v1.0 apogee estimate
v1.0 boards have noisy accelerometer data caused by interactions
between RF transmission and the accelerometer measurements; this noise
generates a negative bias in the accelerometer readings. The net
effect is that the estimated speed is lower than the actual speed,
causing early an apogee estimate.
By increasing the sigma value for accelerometer data, the kalman
filter 'trusts' the acceleration data less, putting more weight on the
barometer data. This causes the estimated time of apogee to be closer
to the correct value.
This reduces the response to changes in acceleration.
This new value is applied solely to TeleMetrum v1.0 boards. v1.1
boards correct for this error, and hence can use the correct sigma
value for the accelerometer.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/test')
| -rw-r--r-- | src/test/Makefile | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/src/test/Makefile b/src/test/Makefile index 333850e4..4e403da6 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -1,6 +1,8 @@ -vpath % ..:../core:../drivers +vpath % ..:../core:../drivers:../util -PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_gps_test ao_gps_test_skytraq ao_convert_test +PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_gps_test ao_gps_test_skytraq ao_convert_test + +KALMAN=make-kalman CFLAGS=-I.. -I. -I../core -I../drivers -O0 -g @@ -14,6 +16,9 @@ install: ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h cc $(CFLAGS) -o $@ $< +ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h + cc -DNOISY_ACCEL=1 $(CFLAGS) -o $@ $< + ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h cc $(CFLAGS) -o $@ -DHAS_ACCEL=0 ao_flight_test.c @@ -28,3 +33,6 @@ 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 $(CFLAGS) -o $@ $< + +ao_kalman.h: $(KALMAN) + (cd .. && make ao_kalman.h)
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