X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=9d9d4c6e0b3ddea72a724b1b3eacee94dbb9f76c;hb=8a19805a6b079450b5afd5fa2334cede8495ae4a;hp=c678645561a88569ae0943455e7240234891c4bd;hpb=0b92164143aaf0d2aa3d5d742484391c16545289;p=fw%2Faltos

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index c6786455..9d9d4c6e 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -40,6 +40,7 @@
 
 __pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
 __pdata uint16_t		ao_boost_tick;		/* time of launch detect */
+__pdata uint16_t		ao_motor_number;	/* number of motors burned so far */
 
 /*
  * track min/max data over a long interval to detect
@@ -93,7 +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
@@ -114,7 +117,7 @@ ao_flight(void)
  			{
 				/* Set pad mode - we can fly! */
 				ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG
+#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
 				/* Disable the USB controller in flight mode
 				 * to save power
 				 */
@@ -215,6 +218,7 @@ ao_flight(void)
 #else
 				ao_flight_state = ao_flight_coast;
 #endif
+				++ao_motor_number;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
 			break;