altos: Add sinf to math code

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

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 64c95063ae9f5ea1e59a12dd6a2317d3e0be328e..240b348a999e7207963d7274d38a01d0719490a7 100644 (file)
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -20,6 +20,10 @@
 #include <ao_log.h>
 #endif
 
+#if HAS_MPU6000
+#include <ao_quaternion.h>
+#endif
+
 #ifndef HAS_ACCEL
 #error Please define HAS_ACCEL
 #endif
@@ -94,7 +98,9 @@ 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
@@ -115,14 +121,14 @@ ao_flight(void)
                        {
                                /* Set pad mode - we can fly! */
                                ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
+#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
@@ -132,8 +138,10 @@ ao_flight(void)
                                ao_rdf_set(1);
                                ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 #endif
+#if HAS_LED
                                /* signal successful initialization by turning off the LED */
                                ao_led_off(AO_LED_RED);
+#endif
                        } else {
                                /* Set idle mode */
                                ao_flight_state = ao_flight_idle;
@@ -143,8 +151,10 @@ ao_flight(void)
                                ao_packet_slave_start();
 #endif
 
+#if HAS_LED
                                /* signal successful initialization by turning off the LED */
                                ao_led_off(AO_LED_RED);
+#endif
                        }
                        /* wakeup threads due to state change */
                        ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -188,8 +198,8 @@ ao_flight(void)
 
 #if HAS_GPS
                                /* Record current GPS position by waking up GPS log tasks */
-                               ao_wakeup(&ao_gps_data);
-                               ao_wakeup(&ao_gps_tracking_data);
+                               ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+                               ao_wakeup(&ao_gps_new);
 #endif
 
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));