X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=a7f5006590264a0a6d1e6dd348c87fb18e2136d7;hb=d55d7c56b81dba7043857a763d0749e93cf7823a;hp=91cf113e3a6ae58880be274bec43653154e485fe;hpb=56310df28e96878c463eb2dae2791652606b4b59;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 91cf113e..a7f50065 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -322,6 +322,10 @@ ao_sample_preflight_update(void)
 		++nsamples;
 	else
 		ao_sample_preflight_set();
+#if !HAS_BARO
+	if ((nsamples & 0x7f) == 0)
+		ao_kalman_reset_accumulate();
+#endif
 }
 
 #if 0