X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=f778b2fbb62896dca526eeafbd83755f3def1dad;hb=805c770deb429065389b24534ebcdc1e6d234629;hp=2142546c9b0737b186cca6f6dce65fa51c8e30ec;hpb=3058ecdeafdee959b1103965f3df4ffcd59683e4;p=fw%2Faltos

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 2142546c..f778b2fb 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -200,6 +200,21 @@ ao_flight(void)
 			ao_wakeup(&ao_flight_state);
 
 			break;
+
+		case ao_flight_invalid:
+			printf("+g %d -g %d ga %d +g-NU %d -g+NU %d\n",
+			       ao_config.accel_plus_g,
+			       ao_config.accel_minus_g,
+			       ao_ground_accel,
+			       ao_config.accel_plus_g - ACCEL_NOSE_UP,
+			       ao_config.accel_minus_g + ACCEL_NOSE_UP);
+			break;
+#if 0
+		case ao_flight_idle:
+			printf("+g %d ga %d sa %d accel %ld speed %ld\n", ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
+			break;
+#endif
+
 		case ao_flight_pad:
 			/* pad to boost:
 			 *
@@ -216,8 +231,11 @@ ao_flight(void)
 			 */
 			if (ao_height > AO_M_TO_HEIGHT(20)
 #if HAS_ACCEL
-			    || (ao_accel > AO_MSS_TO_ACCEL(20) &&
-				ao_speed > AO_MS_TO_SPEED(5))
+			    || (ao_accel > AO_MSS_TO_ACCEL(20)
+#if HAS_BARO
+				&& ao_speed > AO_MS_TO_SPEED(5)
+#endif
+)
 #endif
 				)
 			{