altos: Don't require an LED for ao_flight

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

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index c678645561a88569ae0943455e7240234891c4bd..88dc816d25578858aa2c3e8c672cb414b0eb418e 100644 (file)
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -40,6 +40,7 @@
 
 __pdata enum ao_flight_state   ao_flight_state;        /* current flight state */
 __pdata uint16_t               ao_boost_tick;          /* time of launch detect */
+__pdata uint16_t               ao_motor_number;        /* number of motors burned so far */
 
 /*
  * track min/max data over a long interval to detect
@@ -93,7 +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
@@ -114,14 +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
@@ -131,8 +134,10 @@ 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;
@@ -142,8 +147,10 @@ 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));
@@ -215,6 +222,7 @@ ao_flight(void)
 #else
                                ao_flight_state = ao_flight_coast;
 #endif
+                               ++ao_motor_number;
                                ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;