X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;fp=src%2Fcore%2Fao_flight.c;h=9d9d4c6e0b3ddea72a724b1b3eacee94dbb9f76c;hb=887209b61ac3012d0fd2206cf1016c44f59cb432;hp=64c95063ae9f5ea1e59a12dd6a2317d3e0be328e;hpb=802ca114ca064a9dd557a82e992653b145f8e660;p=fw%2Faltos

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 64c95063..9d9d4c6e 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -94,7 +94,9 @@ ao_flight(void)
 			if (ao_config.accel_plus_g == 0 ||
 			    ao_config.accel_minus_g == 0 ||
 			    ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
-			    ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
+			    ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
+			    ao_ground_height < -1000 ||
+			    ao_ground_height > 7000)
 			{
 				/* Detected an accel value outside -1.5g to 1.5g
 				 * (or uncalibrated values), so we go into invalid mode