X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=9d9d4c6e0b3ddea72a724b1b3eacee94dbb9f76c;hb=dfc268e0021e1cd3045f73339a749d292a6a6300;hp=aa4f6961860f5e923585f947f3ef3c0581f869b4;hpb=1887ca3d7d4a0259686f8c1e68d1e47c47b4ab84;p=fw%2Faltos

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index aa4f6961..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
@@ -115,7 +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
 				 */