altos: Don't eliminate baro above mach speed, just trust it less

[fw/altos] / src / kernel / ao_flight.c

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index b0d911ed7f2663ac5b820cc0146d4944da9d2d85..f06125cd1329f361f7e91e92afcaadc2be420b38 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -282,9 +282,11 @@ ao_flight(void)
                         * the measured altitude reasonably closely; otherwise
                         * we're probably transsonic.
                         */
+#define AO_ERROR_BOUND 100
+
                        if (ao_speed < 0
 #if !HAS_ACCEL
-                           && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+                           && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 #endif
                                )
                        {