From: Keith Packard <keithp@keithp.com>
Date: Sat, 19 Mar 2011 19:28:08 +0000 (-0700)
Subject: altos: Baro-only boards must not detect launch on accel or speed data
X-Git-Tag: 0.9.3~128
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=1aeb759c48f475ffaaae787515e080440c8386c3

altos: Baro-only boards must not detect launch on accel or speed data

The baro sensor generates too much noise to use small changes in
computed speed or acceleration to cause a false launch detect.

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

diff --git a/src/ao_flight.c b/src/ao_flight.c
index e8130baa..71dd4891 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -488,9 +488,20 @@ ao_flight(void)
 			 * transition is detected
 			 */
 #if USE_KALMAN
+#if HAS_ACCEL
+			/*
+			 * With an accelerometer, either to detect launch
+			 */
 			if ((ao_k_accel > to_fix32(20) &&
 			     ao_k_speed > to_fix32(5)) ||
 			    ao_k_height > to_fix32(20))
+#else
+			/*
+			 * Without an accelerometer, the barometer is far too
+			 * noisy to rely on speed or acceleration data
+			 */
+			if (ao_k_height > to_fix32(20))
+#endif
 #else
 			if (
 #if HAS_ACCEL