X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=782e22744c434dc28e9356d60708ef728f7e9380;hb=01f8df088759ee7e6bc3900a013e0ea4fafaf984;hp=64c95063ae9f5ea1e59a12dd6a2317d3e0be328e;hpb=b119e19604aa557a40e848c60d98a67b5f259bbd;p=fw%2Faltos

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 64c95063..782e2274 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
@@ -122,7 +124,7 @@ ao_flight(void)
 				ao_usb_disable();
 #endif
 
-#if !HAS_ACCEL
+#if !HAS_ACCEL && PACKET_HAS_SLAVE
 				/* Disable packet mode in pad state on TeleMini */
 				ao_packet_slave_stop();
 #endif