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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.
*/
* 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));
{
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
*/
if (ao_speed < 0
#if !HAS_ACCEL
- && (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg <
3
0)
+ && (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg <
10
0)
#endif
)
{
#endif
)
{