altos: The kalman code requires a constant sample rate

[fw/altos] / src / ao_flight.c

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 71dd4891669523b130f1ad2681f1ca54abc78b0f..493913b2c1b2a91732bde0fc9cbf407ee2609196 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -627,8 +627,10 @@ ao_flight(void)
                                /* slow down the telemetry system */
                                ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 
+#if !USE_KALMAN
                                /* slow down the ADC sample rate */
                                ao_timer_set_adc_interval(10);
+#endif
 
                                /*
                                 * Start recording min/max accel and pres for a while