X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=aac6880db1260d6dea90a4ce47cd5319e6e1d0f4;hp=463ff4a2974b38e045fb2214ca9bc163cd490d28;hb=755082d36231c1b247bc0e1f13919dd9b5c362a8;hpb=ee4279613b4757453d0d8f8afc06037c61eeb520

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 463ff4a2..aac6880d 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -46,7 +46,7 @@ __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 */
 
-#if HAS_IMU
+#if HAS_SENSOR_ERRORS
 /* Any sensor can set this to mark the flight computer as 'broken' */
 __xdata uint8_t			ao_sensor_errors;
 #endif
@@ -104,9 +104,6 @@ ao_flight(void)
 			    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 ||
-#if HAS_IMU
-			    ao_sensor_errors ||
-#endif
 			    ao_ground_height < -1000 ||
 			    ao_ground_height > 7000)
 			{
@@ -152,7 +149,11 @@ ao_flight(void)
 #endif
 			} else {
 				/* Set idle mode */
- 				ao_flight_state = ao_flight_idle;
+				ao_flight_state = ao_flight_idle;
+#if HAS_SENSOR_ERRORS
+				if (ao_sensor_errors)
+					ao_flight_state = ao_flight_invalid;
+#endif
  
 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 				/* Turn on packet system in idle mode on TeleMetrum */