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altosui: Add software version to Configure AltosUI dialog
[fw/altos]
/
src
/
ao_flight.c
diff --git
a/src/ao_flight.c
b/src/ao_flight.c
index e8130baab3070d54cb40a05adc88554508ff6b44..71dd4891669523b130f1ad2681f1ca54abc78b0f 100644
(file)
--- a/
src/ao_flight.c
+++ b/
src/ao_flight.c
@@
-488,9
+488,20
@@
ao_flight(void)
* transition is detected
*/
#if USE_KALMAN
* transition is detected
*/
#if USE_KALMAN
+#if HAS_ACCEL
+ /*
+ * With an accelerometer, either to detect launch
+ */
if ((ao_k_accel > to_fix32(20) &&
ao_k_speed > to_fix32(5)) ||
ao_k_height > to_fix32(20))
if ((ao_k_accel > to_fix32(20) &&
ao_k_speed > to_fix32(5)) ||
ao_k_height > to_fix32(20))
+#else
+ /*
+ * Without an accelerometer, the barometer is far too
+ * noisy to rely on speed or acceleration data
+ */
+ if (ao_k_height > to_fix32(20))
+#endif
#else
if (
#if HAS_ACCEL
#else
if (
#if HAS_ACCEL