X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=2495a44bafe85553a3facfcb5eac0839c416b73c;hp=64c95063ae9f5ea1e59a12dd6a2317d3e0be328e;hb=039446f54ef6968a3f0b37ce32ca6bdcdbe62546;hpb=b119e19604aa557a40e848c60d98a67b5f259bbd

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 64c95063..2495a44b 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -94,7 +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
@@ -115,14 +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 && !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 +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;
@@ -143,8 +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));
@@ -188,8 +194,8 @@ 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));