altos/kernel: MPU9250 support

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

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index b0d911ed7f2663ac5b820cc0146d4944da9d2d85..cb02c4549ee20564981f8fafa7c2072b1bdd1b65 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -21,7 +21,7 @@
 #include <ao_log.h>
 #endif
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
 #include <ao_quaternion.h>
 #endif
 
@@ -282,9 +282,11 @@ ao_flight(void)
                         * the measured altitude reasonably closely; otherwise
                         * we're probably transsonic.
                         */
+#define AO_ERROR_BOUND 100
+
                        if (ao_speed < 0
 #if !HAS_ACCEL
-                           && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+                           && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND)
 #endif
                                )
                        {