X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_flight.c;h=c0f5683047b4d5e3e37dd6d28d14bb9de71295e2;hp=3e747d0668f02399c0d3ec15850d38e36dead71a;hb=3a3bfd471a868d546d83cdc431b53c8f5208edb9;hpb=69616104813fc5ba89fb3128d04fb9328961c59c

diff --git a/ao_flight.c b/ao_flight.c
index 3e747d06..c0f56830 100644
--- a/ao_flight.c
+++ b/ao_flight.c
@@ -170,7 +170,7 @@ ao_flight(void)
 			 * so subtract instead of add.
 			 */
 			ticks = ao_flight_tick - ao_flight_prev_tick;
-			ao_vel_change = (((ao_raw_accel + ao_raw_accel_prev) >> 1) - ao_ground_accel);
+			ao_vel_change = (((ao_raw_accel >> 1) + (ao_raw_accel_prev >> 1)) - ao_ground_accel);
 			ao_raw_accel_prev = ao_raw_accel;
 
 			/* one is a common interval */
@@ -227,7 +227,6 @@ ao_flight(void)
 
 				/* Turn on telemetry system
 				 */
-				ao_rdf_set(1);
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 
 				ao_flight_state = ao_flight_launchpad;
@@ -278,9 +277,6 @@ ao_flight(void)
 				/* Increase telemetry rate */
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 
-				/* disable RDF beacon */
-				ao_rdf_set(0);
-
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				break;
 			}
@@ -360,9 +356,6 @@ ao_flight(void)
 				/* slow down the ADC sample rate */
 				ao_timer_set_adc_interval(10);
 
-				/* Enable RDF beacon */
-				ao_rdf_set(1);
-
 				/*
 				 * Start recording min/max accel and pres for a while
 				 * to figure out when the rocket has landed