return;
height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
#if HAS_ACCEL
- /* speed is stored * 16, but we need to ramp between 200 and 328, so
+ /* speed is stored * 16, but we need to ramp between 248 and 328, so
* we want to multiply by 2. The result is a shift by 3.
*/
speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1);
- if (speed_distrust <= 0)
- speed_distrust = 0;
- else if (speed_distrust > height_distrust)
+ if (speed_distrust > AO_MAX_SPEED_DISTRUST)
+ speed_distrust = AO_MAX_SPEED_DISTRUST;
+ if (speed_distrust > height_distrust)
height_distrust = speed_distrust;
#endif
if (height_distrust > 0) {