X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_flight.c;h=01dbb11b04d030f39aba529ecaae6e89b306add9;hb=3566dee1cf83870396a0bb164f5549dd3faf58f5;hp=7fe85cb1522ac786579b824cd714c97dc088d9f3;hpb=c437b14b7fc7afdfc7b809a04d7fa29d5e742307;p=fw%2Faltos

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 7fe85cb1..01dbb11b 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -196,17 +196,17 @@ ao_flight(void)
 
 			/* startup state:
 			 *
-			 * Collect 1000 samples of acceleration and pressure
+			 * Collect 512 samples of acceleration and pressure
 			 * data and average them to find the resting values
 			 */
-			if (nsamples < 1000) {
+			if (nsamples < 512) {
 				ao_raw_accel_sum += ao_raw_accel;
 				ao_raw_pres_sum += ao_raw_pres;
 				++nsamples;
 				continue;
 			}
-			ao_ground_accel = (ao_raw_accel_sum / nsamples);
-			ao_ground_pres = (ao_raw_pres_sum / nsamples);
+			ao_ground_accel = ao_raw_accel_sum >> 9;
+			ao_ground_pres = ao_raw_pres_sum >> 9;
 			ao_min_pres = ao_ground_pres;
 			ao_config_get();
 			ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
@@ -221,6 +221,7 @@ ao_flight(void)
 			if (ao_config.accel_plus_g != 0 &&
 			    ao_config.accel_minus_g != 0 &&
 			    ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP &&
+			    ao_flight_accel > ao_config.accel_plus_g - ACCEL_NOSE_UP &&
 			    !ao_flight_force_idle)
 			{
 				/* Disable the USB controller in flight mode
@@ -236,9 +237,18 @@ ao_flight(void)
 				ao_flight_state = ao_flight_pad;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			} else {
-				ao_flight_state = ao_flight_idle;
+				if (ao_flight_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+				    ao_flight_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
+				{
+					/* Detected an accel value outside -1.5g to 1.5g
+					 * -> invalid mode
+					 */
+					ao_flight_state = ao_flight_invalid;
+				} else {
+					ao_flight_state = ao_flight_idle;
+				}
 
-				/* Turn on packet system in idle mode
+				/* Turn on packet system in idle or invalid mode
 				 */
 				ao_packet_slave_start();
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));