From e81ae9f5e14ae9f3d87ac9bfa2456d69edf86d92 Mon Sep 17 00:00:00 2001
From: Jiaming Liu <jiamingliu@google.com>
Date: Tue, 9 May 2023 05:00:11 +0000
Subject: [PATCH 1/2] Disable WM Extensions on Pixel 6

Bug: 266196089
Test: Build
Change-Id: Id317b1626a522f6b7b8a4926c4bdf21ed67bd765
---
 device-oriole.mk | 8 --------
 device-raven.mk  | 8 --------
 2 files changed, 16 deletions(-)

diff --git a/device-oriole.mk b/device-oriole.mk
index f01655c..e7d8fd7 100644
--- a/device-oriole.mk
+++ b/device-oriole.mk
@@ -271,11 +271,3 @@ else
         PRODUCT_COPY_FILES += \
 		device/google/raviole/location/gps_user.xml.oriole:$(TARGET_COPY_OUT_VENDOR)/etc/gnss/gps.xml
 endif
-
-# Window Extensions
-$(call inherit-product, $(SRC_TARGET_DIR)/product/window_extensions.mk)
-
-# Disable Settings large-screen optimization enabled by Window Extensions
-PRODUCT_SYSTEM_PROPERTIES += \
-    persist.settings.large_screen_opt.enabled=false
-
diff --git a/device-raven.mk b/device-raven.mk
index a926be3..fffcbfc 100644
--- a/device-raven.mk
+++ b/device-raven.mk
@@ -290,11 +290,3 @@ else
         PRODUCT_COPY_FILES += \
 		device/google/raviole/location/gps_user.xml.raven:$(TARGET_COPY_OUT_VENDOR)/etc/gnss/gps.xml
 endif
-
-# Window Extensions
-$(call inherit-product, $(SRC_TARGET_DIR)/product/window_extensions.mk)
-
-# Disable Settings large-screen optimization enabled by Window Extensions
-PRODUCT_SYSTEM_PROPERTIES += \
-    persist.settings.large_screen_opt.enabled=false
-

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 2/2] 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>