diff options
| -rw-r--r-- | src/cc1111/ao_pins.h | 1 | ||||
| -rw-r--r-- | src/test/Makefile | 12 | ||||
| -rw-r--r-- | src/util/make-kalman | 22 |
3 files changed, 33 insertions, 2 deletions
diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h index 723f1500..d2fbb209 100644 --- a/src/cc1111/ao_pins.h +++ b/src/cc1111/ao_pins.h @@ -36,6 +36,7 @@ #define IGNITE_ON_P0 0 #define PACKET_HAS_MASTER 0 #define PACKET_HAS_SLAVE 1 + #define NOISY_ACCEL 1 #define HAS_COMPANION 1 #define COMPANION_CS_ON_P1 1 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)
\ No newline at end of file diff --git a/src/util/make-kalman b/src/util/make-kalman index 397d6020..fd33bab0 100644 --- a/src/util/make-kalman +++ b/src/util/make-kalman @@ -5,11 +5,32 @@ cd $1 2> /dev/null 1>&2 SIGMA_BOTH="-M 2 -H 6 -A 2" SIGMA_BARO="-M 2 -H 6 -A 2" SIGMA_ACCEL="-M 2 -H 4 -A 4" +SIGMA_BOTH_NOISY_ACCEL="-M 2 -H 6 -A 3" + +echo '#if NOISY_ACCEL' +echo +echo '/* TeleMetrum v1.0 boards have noisy accelerometer values' +echo ' * increase the sigma value for accel data to compensate.' +echo ' * This improves the accuracy of apogee detection.' +echo ' */' +echo + +nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH_NOISY_ACCEL +nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH_NOISY_ACCEL +nickle kalman.5c -p AO_BOTH -c both -t 1 $SIGMA_BOTH_NOISY_ACCEL + +echo '#endif' +echo +echo '#ifndef AO_BOTH_K00_100' +echo nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH nickle kalman.5c -p AO_BOTH -c both -t 1 $SIGMA_BOTH +echo '#endif' +echo + nickle kalman.5c -p AO_ACCEL -c accel -t 0.01 $SIGMA_ACCEL nickle kalman.5c -p AO_ACCEL -c accel -t 0.1 $SIGMA_ACCEL nickle kalman.5c -p AO_ACCEL -c accel -t 1 $SIGMA_ACCEL @@ -17,3 +38,4 @@ nickle kalman.5c -p AO_ACCEL -c accel -t 1 $SIGMA_ACCEL nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA_BARO nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA_BARO nickle kalman.5c -p AO_BARO -c baro -t 1 $SIGMA_BARO + |