From: Keith Packard <keithp@keithp.com>
Date: Sat, 21 Dec 2013 06:08:11 +0000 (-0800)
Subject: altos: Complain about sensor self-test errors only in idle mode
X-Git-Tag: 1.3.1~46
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=758acb92cccbe4b64a35a1883b42713738c90630;hp=c8b27410e45cc3d80ad4b896bffe70e9aec5e3aa

altos: Complain about sensor self-test errors only in idle mode

When the accelerometer says to go into pad mode, don't look for other
sensor self test errors. Only look for sensor self test errors to
choose between idle and invalid mode. This will prevent minor sensor
self test errors from letting the rocket fly safely.

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

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 463ff4a2..5918b997 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -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_IMU
+				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 */