X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;fp=src%2Fkernel%2Fao_sample.c;h=46771496b69a4745cd6ea24597f9fa048c7243ba;hp=91cf113e3a6ae58880be274bec43653154e485fe;hb=4370b7e7bc48d3f3f3ec94665449f1fde4e9567c;hpb=a7d8a0f8b26bf62b63f12110d6d66a4f9da76eae

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 91cf113e..46771496 100644
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -322,6 +322,10 @@ ao_sample_preflight_update(void)
 		++nsamples;
 	else
 		ao_sample_preflight_set();
+#if !HAS_BARO
+	if ((nsamples & 0x3f) == 0)
+		ao_kalman_reset_accumulate();
+#endif
 }
 
 #if 0