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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.
*/
* the measured altitude reasonably closely; otherwise
* we're probably transsonic.
*/
+#define AO_ERROR_BOUND 100
+
if (ao_speed < 0
#if !HAS_ACCEL
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
)
{
#endif
)
{