altos: Use only accel for boost detect without baro

Without baro, speed will integrate accel 'forever' and cause speed to
be wildly inaccurate at boost time. Would be awesome to reset speed to
zero at some point.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 4ffbcf4b43715d2b732898cc94b4f94732819298..e895904c720bc91645ac6c8a31474ba9af8b0f0a 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -201,10 +201,12 @@ ao_flight(void)
 
                        break;
 
+#if 0
                case ao_flight_idle:
                case ao_flight_invalid:
                        printf("+g %d ga %d sa %d accel %ld speed %ld\n", ao_config.accel_plus_g, ao_ground_accel, ao_sample_accel, ao_accel, ao_speed);
                        break;
+#endif
 
                case ao_flight_pad:
                        /* pad to boost:
@@ -222,8 +224,10 @@ ao_flight(void)
                         */
                        if (ao_height > AO_M_TO_HEIGHT(20)
 #if HAS_ACCEL
-                           || (ao_accel > AO_MSS_TO_ACCEL(20) &&
-                               ao_speed > AO_MS_TO_SPEED(5))
+                           || (ao_accel > AO_MSS_TO_ACCEL(20)
+#if HAS_BARO
+                               && ao_speed > AO_MS_TO_SPEED(5))
+#endif
 #endif
                                )
                        {