From: Keith Packard <keithp@keithp.com>
Date: Wed, 8 May 2013 02:29:06 +0000 (-0700)
Subject: altos: Sanity check barometer before going to pad mode
X-Git-Tag: 1.2.1~59
X-Git-Url: https://git.gag.com/?a=commitdiff_plain;ds=sidebyside;h=887209b61ac3012d0fd2206cf1016c44f59cb432;p=fw%2Faltos

altos: Sanity check barometer before going to pad mode

Make sure the barometer is reporting some sensible value before
letting TM try to fly the rocket.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 64c95063..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