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| author | Bdale Garbee <bdale@gag.com> | 2013-12-18 21:53:52 -0700 |
|---|---|---|
| committer | Bdale Garbee <bdale@gag.com> | 2013-12-18 21:53:52 -0700 |
| commit | 39cb8c2896317b7538353be979ac99baffc14489 (patch) | |
| tree | 2f4dba423693670a4a031b8e36321d1d5cf22436 /src/core/ao_flight.c | |
| parent | 2a6016cfabc8cd56f5219871e3b3df316a639289 (diff) | |
| parent | ee4279613b4757453d0d8f8afc06037c61eeb520 (diff) | |
Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos
Diffstat (limited to 'src/core/ao_flight.c')
| -rw-r--r-- | src/core/ao_flight.c | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c index 4a53bdc6..463ff4a2 100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@ -46,6 +46,11 @@ __pdata enum ao_flight_state ao_flight_state; /* current flight state */ __pdata uint16_t ao_boost_tick; /* time of launch detect */ __pdata uint16_t ao_motor_number; /* number of motors burned so far */ +#if HAS_IMU +/* Any sensor can set this to mark the flight computer as 'broken' */ +__xdata uint8_t ao_sensor_errors; +#endif + /* * track min/max data over a long interval to detect * resting @@ -99,6 +104,9 @@ 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) { |