altos: Added check for out of bounds accel

[fw/altos] / src / ao_flight.c

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 5a9a8d801037c4d278abbc39d754e34053086ce3..01dbb11b04d030f39aba529ecaae6e89b306add9 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -237,9 +237,18 @@ ao_flight(void)
                                ao_flight_state = ao_flight_pad;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        } else {
-                               ao_flight_state = ao_flight_idle;
+                               if (ao_flight_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+                                   ao_flight_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
+                               {
+                                       /* Detected an accel value outside -1.5g to 1.5g
+                                        * -> invalid mode
+                                        */
+                                       ao_flight_state = ao_flight_invalid;
+                               } else {
+                                       ao_flight_state = ao_flight_idle;
+                               }
 
-                               /* Turn on packet system in idle mode
+                               /* Turn on packet system in idle or invalid mode
                                 */
                                ao_packet_slave_start();
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));