From bef2955ba07058879df642f54deb142da9cc5303 Mon Sep 17 00:00:00 2001
From: nujw <mike@kereru.com>
Date: Fri, 5 Mar 2021 17:27:05 +1300
Subject: [PATCH] Add Kalman Filter switch on/off to settings menu.

---
 apps/speedalt/app.js      | 15 +++++++++------
 apps/speedalt/settings.js | 20 ++++++++++++++++++--
 2 files changed, 27 insertions(+), 8 deletions(-)

diff --git a/apps/speedalt/app.js b/apps/speedalt/app.js
index f69b955a1..04bf58380 100644
--- a/apps/speedalt/app.js
+++ b/apps/speedalt/app.js
@@ -5,7 +5,7 @@ Mike Bennett mike[at]kereru.com
 1.21 : Third mode large clock display
 1.02 : add smoothing with kalman filter
 */
-var v = '1.02e';
+var v = '1.02g';
 
 /*kalmanjs, Wouter Bulten, MIT, https://github.com/wouterbulten/kalmanjs */
 var KalmanFilter = (function () {
@@ -170,9 +170,6 @@ var KalmanFilter = (function () {
 
 }());
 
-var spdFilter = new KalmanFilter({R: 0.1, Q: 1});
-var altFilter = new KalmanFilter({R: 0.01, Q: 2});
-
 
 var buf = Graphics.createArrayBuffer(240,160,2,{msb:true});
 
@@ -416,8 +413,8 @@ function onGPS(fix) {
 
     // Smooth data
     if ( lf.smoothed !== 1 ) {
-      lf.speed = spdFilter.filter(lf.speed);
-      lf.alt = altFilter.filter(lf.alt);
+      if ( cfg.spdFilt ) lf.speed = spdFilter.filter(lf.speed);
+      if ( cfg.altFilt ) lf.alt = altFilter.filter(lf.alt);
       lf.smoothed = 1;
       if ( max.n <= 15 ) max.n++;
     }
@@ -590,6 +587,12 @@ cfg.wp = cfg.wp||0;        // Last selected waypoint for dist
 cfg.modeA = cfg.modeA||0;    // 0 = [D]ist, 1 = [A]ltitude, 2 = [C]lock
 cfg.primSpd = cfg.primSpd||0;    // 1 = Spd in primary, 0 = Spd in secondary
 
+cfg.spdFilt = cfg.spdFilt==undefined?true:cfg.spdFilt; 
+cfg.altFilt = cfg.altFilt==undefined?true:cfg.altFilt;
+
+if ( cfg.spdFilt ) var spdFilter = new KalmanFilter({R: 0.1 , Q: 1 });
+if ( cfg.altFilt ) var altFilter = new KalmanFilter({R: 0.01, Q: 2 });
+
 loadWp();
 
 /*
diff --git a/apps/speedalt/settings.js b/apps/speedalt/settings.js
index 7ecc2b940..6e417da56 100644
--- a/apps/speedalt/settings.js
+++ b/apps/speedalt/settings.js
@@ -29,13 +29,15 @@
     settings.colour = c;
     writeSettings();
   }
+
   
   const appMenu = {
     '': {'title': 'GPS Speed Alt'},
     '< Back': back,
     '< Load GPS Adv Sport': ()=>{load('speedalt.app.js');},
     'Units' : function() { E.showMenu(unitsMenu); },
-    'Colours' : function() { E.showMenu(colMenu); }/*,
+    'Colours' : function() { E.showMenu(colMenu); },
+    'Kalman Filter' : function() { E.showMenu(kalMenu); }/*,
     'Vibrate' : {
     value : settings.buzz,
     format : v => v?"On":"Off",
@@ -66,7 +68,21 @@
     'Night' : function() { setColour(2); }
   };
   
+  const kalMenu = {
+    '': {'title': 'Kalman Filter'},
+    'Speed' : {
+    value : settings.spdFilt,
+    format : v => v?"On":"Off",
+    onchange : () => { settings.spdFilt = !settings.spdFilt; writeSettings(); }
+    },
+    'Altitude' : {
+    value : settings.altFilt,
+    format : v => v?"On":"Off",
+    onchange : () => { settings.altFilt = !settings.altFilt; writeSettings(); }
+    }
+  };
+
   
   E.showMenu(appMenu);
 
-})
+});