+
+ if (acceleration == AltosRecord.MISSING) {
+ /* Fill in mising acceleration value */
+ accel_speed = baro_speed;
+ if (time_change > 0)
+ acceleration = (accel_speed - prev_state.accel_speed) / time_change;
+ else
+ acceleration = prev_state.acceleration;
+ } else {
+ /* compute accelerometer speed */
+ accel_speed = prev_state.accel_speed + acceleration * time_change;
+ }