From add2802a8a33336180fe6856241a7f4a8200e89c Mon Sep 17 00:00:00 2001 From: Mike Beattie Date: Sun, 16 Jan 2011 00:10:30 +1300 Subject: [PATCH] altos: Added check for out of bounds accel Chose invalid flight mode instead of idle to give user feedback. Signed-off-by: Mike Beattie --- src/ao_flight.c | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/ao_flight.c b/src/ao_flight.c index 5a9a8d80..01dbb11b 100644 --- a/src/ao_flight.c +++ b/src/ao_flight.c @@ -237,9 +237,18 @@ ao_flight(void) ao_flight_state = ao_flight_pad; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } else { - ao_flight_state = ao_flight_idle; + if (ao_flight_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP || + ao_flight_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP) + { + /* Detected an accel value outside -1.5g to 1.5g + * -> invalid mode + */ + ao_flight_state = ao_flight_invalid; + } else { + ao_flight_state = ao_flight_idle; + } - /* Turn on packet system in idle mode + /* Turn on packet system in idle or invalid mode */ ao_packet_slave_start(); ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); -- 2.30.2