From 74fa55641033609e470079dcd67282dcb8243129 Mon Sep 17 00:00:00 2001
From: Kenzi Mudge <kenzimatic@google.com>
Date: Tue, 9 May 2023 09:41:20 -0400
Subject: [PATCH] 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
---
 raven/rro_overlays/UwbOverlay/res/values/config.xml | 11 +++++++++++
 1 file changed, 11 insertions(+)

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>