From 758acb92cccbe4b64a35a1883b42713738c90630 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 20 Dec 2013 22:08:11 -0800 Subject: [PATCH] altos: Complain about sensor self-test errors only in idle mode When the accelerometer says to go into pad mode, don't look for other sensor self test errors. Only look for sensor self test errors to choose between idle and invalid mode. This will prevent minor sensor self test errors from letting the rocket fly safely. Signed-off-by: Keith Packard --- src/core/ao_flight.c | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c index 463ff4a2..5918b997 100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@ -104,9 +104,6 @@ ao_flight(void) ao_config.accel_minus_g == 0 || ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP || ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP || -#if HAS_IMU - ao_sensor_errors || -#endif ao_ground_height < -1000 || ao_ground_height > 7000) { @@ -152,7 +149,11 @@ ao_flight(void) #endif } else { /* Set idle mode */ - ao_flight_state = ao_flight_idle; + ao_flight_state = ao_flight_idle; +#if HAS_IMU + if (ao_sensor_errors) + ao_flight_state = ao_flight_invalid; +#endif #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE /* Turn on packet system in idle mode on TeleMetrum */ -- 2.30.2