From 1aeb759c48f475ffaaae787515e080440c8386c3 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 19 Mar 2011 12:28:08 -0700 Subject: [PATCH] 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 --- src/ao_flight.c | 11 +++++++++++ 1 file changed, 11 insertions(+) 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 -- 2.30.2