From 887209b61ac3012d0fd2206cf1016c44f59cb432 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 7 May 2013 19:29:06 -0700 Subject: [PATCH] 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 --- src/core/ao_flight.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) 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 -- 2.47.2