X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_flight.c;h=01dbb11b04d030f39aba529ecaae6e89b306add9;hb=ab31b1c737d8fd32af482e5b06699f1b832a25a1;hp=5a9a8d801037c4d278abbc39d754e34053086ce3;hpb=58838c0b96a91da0bd0cd77c3ff312b589c08136;p=fw%2Faltos

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 5a9a8d80..01dbb11b 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -237,9 +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));