Merge remote-tracking branch 'origin/master'

[fw/altos] / src / core / ao_flight.c

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index fc018f009cdf62a0d018e5d3a00d3efc3f9ea754..1322195beb2ca4d0e1cb5ddab0c99580e7f2abe5 100644 (file)
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -40,9 +40,7 @@
 
 __pdata enum ao_flight_state   ao_flight_state;        /* current flight state */
 __pdata uint16_t               ao_boost_tick;          /* time of launch detect */
-#if AO_PYRO_NUM
 __pdata uint16_t               ao_motor_number;        /* number of motors burned so far */
-#endif
 
 /*
  * track min/max data over a long interval to detect
@@ -96,7 +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
@@ -117,14 +117,14 @@ ao_flight(void)
                        {
                                /* Set pad mode - we can fly! */
                                ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG
+#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
                                /* Disable the USB controller in flight mode
                                 * to save power
                                 */
                                ao_usb_disable();
 #endif
 
-#if !HAS_ACCEL
+#if !HAS_ACCEL && PACKET_HAS_SLAVE
                                /* Disable packet mode in pad state on TeleMini */
                                ao_packet_slave_stop();
 #endif
@@ -218,9 +218,7 @@ ao_flight(void)
 #else
                                ao_flight_state = ao_flight_coast;
 #endif
-#if AO_PYRO_NUM
                                ++ao_motor_number;
-#endif
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;