Enable UWB filter engine
Updated overlay file to configure and enable the UWB filter engine on
Raven.
Bug: b/237098661
Test: make, flash, manual test
Change-Id: I421b1b7335d9a403d0cfed5486457c2dfb5fa051
diff --git a/raven/rro_overlays/UwbOverlay/res/values/config.xml b/raven/rro_overlays/UwbOverlay/res/values/config.xml
index 7a77d32..672ee1d 100644
--- a/raven/rro_overlays/UwbOverlay/res/values/config.xml
+++ b/raven/rro_overlays/UwbOverlay/res/values/config.xml
@@ -17,4 +17,15 @@
*/
-->
<resources>
+ <!-- When true, the filter engine will alter UWB values to improve accuracy. -->
+ <bool name="enable_filters">true</bool>
+
+ <!-- Enables elevation estimation. Strongly recommended for hardware that doesn't support
+ elevation. This helps produce better predictions from pose changes, and improves the quality
+ of the AoA primer. -->
+ <bool name="enable_primer_est_elevation">true</bool>
+
+ <!-- Enables the AoA conversion primer. This is needed on hardware that does not convert AoA
+ to spherical coordinates, including hardware that does not support elevation.-->
+ <bool name="enable_primer_aoa">true</bool>
</resources>