From 1fb658e2c067e0d8c04e8ab644e0e864ddd16418 Mon Sep 17 00:00:00 2001
From: Kenzi Mudge <kenzimatic@google.com>
Date: Tue, 9 May 2023 09:58:04 -0400
Subject: [PATCH] Enable UWB filter engine

Updated overlay file to configure and enable the UWB filter engine on
Cheetah.

Bug: b/237098661
Test: make, flash, manual test
Change-Id: I793ee6df33fdf23254ccd806d00f6940e69996c7
---
 cheetah/rro_overlays/UwbOverlay/res/values/config.xml | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/cheetah/rro_overlays/UwbOverlay/res/values/config.xml b/cheetah/rro_overlays/UwbOverlay/res/values/config.xml
index 7a77d32..0d69434 100644
--- a/cheetah/rro_overlays/UwbOverlay/res/values/config.xml
+++ b/cheetah/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">false</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>