diff options
| -rw-r--r-- | src/ao_flight.c | 5 | ||||
| -rw-r--r-- | src/make-kalman | 4 |
2 files changed, 4 insertions, 5 deletions
diff --git a/src/ao_flight.c b/src/ao_flight.c index 39325a69..88f0544f 100644 --- a/src/ao_flight.c +++ b/src/ao_flight.c @@ -626,8 +626,7 @@ ao_flight(void) * but the barometer is being ignored as * it may be unreliable. */ - if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED) && - (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 30)) + 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)); @@ -647,7 +646,7 @@ ao_flight(void) */ if (ao_speed < 0 #if !HAS_ACCEL - && (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 30) + && (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100) #endif ) { diff --git a/src/make-kalman b/src/make-kalman index 6fb181ec..5a25e1ec 100644 --- a/src/make-kalman +++ b/src/make-kalman @@ -2,8 +2,8 @@ cd ../kalman -SIGMA_BOTH="-M 2 -H 4 -A 4" -SIGMA_BARO="-M 2 -H 4 -A 4" +SIGMA_BOTH="-M 2 -H 6 -A 2" +SIGMA_BARO="-M 2 -H 6 -A 2" SIGMA_ACCEL="-M 2 -H 4 -A 4" nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH |