/*
* Above this speed, baro measurements are unreliable
*/
-#define AO_MAX_BARO_SPEED 200
+#define AO_MAX_BARO_SPEED 248
+
+/* The maximum amount (in a range of 0-256) to de-rate the
+ * baro sensor data based on speed.
+ */
+#define AO_MAX_SPEED_DISTRUST 160
#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
extern __xdata ao_v_t ao_avg_height; /* running average of height */
extern __pdata ao_v_t ao_error_h;
+#if !HAS_ACCEL
extern __pdata ao_v_t ao_error_h_sq_avg;
+#endif
#if HAS_ACCEL
extern __pdata ao_v_t ao_error_a;