From f2651f90e5ba079a2e1751a90dde8342e7067a64 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Mon, 20 Nov 2023 10:51:06 +0100
Subject: [PATCH] updated sfd parameters

---
 skyward-boardcore                           |  2 +-
 src/boards/Main/Configs/PressureSFDConfig.h | 38 ++++++++++++++-------
 2 files changed, 26 insertions(+), 14 deletions(-)

diff --git a/skyward-boardcore b/skyward-boardcore
index 20759bca3..57e4e76ec 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit 20759bca3e7e7f3cad0def6071b71caaf0e7a4e1
+Subproject commit 57e4e76ecf2e52084026aed3932e4d5040e5921b
diff --git a/src/boards/Main/Configs/PressureSFDConfig.h b/src/boards/Main/Configs/PressureSFDConfig.h
index 531d2e9c0..7c12db99d 100644
--- a/src/boards/Main/Configs/PressureSFDConfig.h
+++ b/src/boards/Main/Configs/PressureSFDConfig.h
@@ -38,11 +38,17 @@ namespace Ascent
 using FeaturesArr = std::array<float, Boardcore::SFDAscent::NUM_FEATURES>;
 using SVMConf = Boardcore::SVM<Boardcore::SFDAscent::NUM_FEATURES>::SVMConfig;
 
-constexpr FeaturesArr BETA  = {0.0, 0.0, 0.0, 0.0, 0.0};
-constexpr FeaturesArr MU    = {0.0, 0.0, 0.0, 0.0, 0.0};
-constexpr FeaturesArr SIGMA = {0.0, 0.0, 0.0, 0.0, 0.0};
-constexpr float BIAS        = 0.0;
-constexpr float SCALE       = 0.0;
+constexpr FeaturesArr BETA  = {0.0538048411163895,  1.21829189675103,
+                               -0.0135044925652423, -2.46984492432602,
+                               -1.7469906902922,    0.236220477009252};
+constexpr FeaturesArr MU    = {1306.72004416967, 0.351190954475099,
+                               1.99867039117899, -0.0185223927903996,
+                               7.45589640537251, 12.630364102307};
+constexpr FeaturesArr SIGMA = {1055.13277492127, 0.0457124377157068,
+                               1.83336893903227, 0.0874316265177542,
+                               1.19779014092547, 0.999724384795152};
+constexpr float BIAS        = -0.945291058126819;
+constexpr float SCALE       = 3.25293089128877;
 
 constexpr SVMConf SVM_CONF = {BETA, MU, SIGMA, BIAS, SCALE};
 }  // namespace Ascent
@@ -53,11 +59,17 @@ namespace Descent
 using FeaturesArr = std::array<float, Boardcore::SFDDescent::NUM_FEATURES>;
 using SVMConf = Boardcore::SVM<Boardcore::SFDDescent::NUM_FEATURES>::SVMConfig;
 
-constexpr FeaturesArr BETA  = {0.0, 0.0, 0.0, 0.0, 0.0};
-constexpr FeaturesArr MU    = {0.0, 0.0, 0.0, 0.0, 0.0};
-constexpr FeaturesArr SIGMA = {0.0, 0.0, 0.0, 0.0, 0.0};
-constexpr float BIAS        = 0.0;
-constexpr float SCALE       = 0.0;
+constexpr FeaturesArr BETA  = {-1.45789357962751, 0.149212230274532,
+                               0.543310785123195, 0.36657833324541,
+                               -0.033476999690174};
+constexpr FeaturesArr MU    = {1.69681676472682, 261.15944469953,
+                               0.0114112487465149, -0.0168260044537472,
+                               2.1355858817835};
+constexpr FeaturesArr SIGMA = {0.20823828849293, 356.048735537809,
+                               0.156943288015148, 0.480743200014727,
+                               0.912588579044107};
+constexpr float BIAS        = -4.55617842982864;
+constexpr float SCALE       = 0.775015678995177;
 
 constexpr SVMConf SVM_CONF = {BETA, MU, SIGMA, BIAS, SCALE};
 }  // namespace Descent
@@ -65,9 +77,9 @@ constexpr SVMConf SVM_CONF = {BETA, MU, SIGMA, BIAS, SCALE};
 // LowPass filter
 namespace LowPass
 {
-constexpr float CUTOFF_FREQ = 0.0;
-constexpr float GAIN        = 0.0;
-constexpr float LAMBDA      = 0.0;
+constexpr float CUTOFF_FREQ = 500.0;  // [Hz]
+constexpr float GAIN        = 500.0;
+constexpr float LAMBDA      = 0.000045399929762484854;
 }  // namespace LowPass
 
 }  // namespace PressureSFDConfig
-- 
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