altos: Ignore alt error for fast->coast. Allow larger error for baro apogee.

[fw/altos] / src / ao_flight.c

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 39325a69713f86116850a2314f2bcb6e20b7de4b..88f0544f83a076ce4a702a966c23c0703c3376a9 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -626,8 +626,7 @@ ao_flight(void)
                         * but the barometer is being ignored as
                         * it may be unreliable.
                         */
-                       if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED) &&
-                           (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 30))
+                       if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
                        {
                                ao_flight_state = ao_flight_coast;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -647,7 +646,7 @@ ao_flight(void)
                         */
                        if (ao_speed < 0
 #if !HAS_ACCEL
-                           && (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 30)
+                           && (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
 #endif
                                )
                        {