From: Keith Packard <keithp@keithp.com>
Date: Sun, 11 Oct 2020 05:26:38 +0000 (-0700)
Subject: altos: Use only accel for boost detect without baro
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=ab10b26a8299670db20618551fcc6a1a09bd34e8

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 4ffbcf4b..e895904c 100644
--- 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
 				)
 			{