From: Keith Packard <keithp@keithp.com>
Date: Tue, 29 Mar 2011 17:08:46 +0000 (-0700)
Subject: altos: ao_sample_preflight was exiting preflight mode immediately
X-Git-Tag: 0.9.3~85
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=08e6bbef2c3529dfd468ef221c526fc9f3ed5b81

altos: ao_sample_preflight was exiting preflight mode immediately

Need to stay in pre-flight mode until we've gotten enough sensor data
to calibrate things appropriately. The conversion from a unified
ao_flight.c file was just broken here.

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

diff --git a/src/ao_sample.c b/src/ao_sample.c
index ef403393..84cf1e00 100644
--- a/src/ao_sample.c
+++ b/src/ao_sample.c
@@ -68,16 +68,17 @@ ao_sample_preflight(void)
 #endif
 		ao_sample_pres_sum += ao_sample_pres;
 		++nsamples;
-		ao_preflight = FALSE;
-	}
-	ao_config_get();
+	} else {
+		ao_config_get();
 #if HAS_ACCEL
-	ao_ground_accel = ao_sample_accel_sum >> 9;
-	ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
-	ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
+		ao_ground_accel = ao_sample_accel_sum >> 9;
+		ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
+		ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
 #endif
-	ao_ground_pres = ao_sample_pres_sum >> 9;
-	ao_ground_height = ao_pres_to_altitude(ao_ground_pres);
+		ao_ground_pres = ao_sample_pres_sum >> 9;
+		ao_ground_height = ao_pres_to_altitude(ao_ground_pres);
+		ao_preflight = FALSE;
+	}
 }
 
 uint8_t