altos: Use only accel for boost detect without baro

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

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 2142546c9b0737b186cca6f6dce65fa51c8e30ec..e895904c720bc91645ac6c8a31474ba9af8b0f0a 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -200,6 +200,14 @@ ao_flight(void)
                        ao_wakeup(&ao_flight_state);
 
                        break;
+
+#if 0
+               case ao_flight_idle:
+               case ao_flight_invalid:
+                       printf("+g %d ga %d sa %d accel %ld speed %ld\n", ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
+                       break;
+#endif
+
                case ao_flight_pad:
                        /* pad to boost:
                         *
@@ -216,8 +224,10 @@ ao_flight(void)
                         */
                        if (ao_height > AO_M_TO_HEIGHT(20)
 #if HAS_ACCEL
-                           || (ao_accel > AO_MSS_TO_ACCEL(20) &&
-                               ao_speed > AO_MS_TO_SPEED(5))
+                           || (ao_accel > AO_MSS_TO_ACCEL(20)
+#if HAS_BARO
+                               && ao_speed > AO_MS_TO_SPEED(5))
+#endif
 #endif
                                )
                        {