diff options
| author | Keith Packard <keithp@keithp.com> | 2013-12-20 22:08:11 -0800 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2013-12-20 22:08:11 -0800 |
| commit | 758acb92cccbe4b64a35a1883b42713738c90630 (patch) | |
| tree | 664fff57bc7872ab609b0f6ff5905c892c88af48 | |
| parent | c8b27410e45cc3d80ad4b896bffe70e9aec5e3aa (diff) | |
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>
| -rw-r--r-- | src/core/ao_flight.c | 9 |
1 files changed, 5 insertions, 4 deletions
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 */ |