From ab10b26a8299670db20618551fcc6a1a09bd34e8 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 10 Oct 2020 22:26:38 -0700 Subject: [PATCH] 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 --- src/kernel/ao_flight.c | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) 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 ) { -- 2.30.2