diff options
| author | Mike Beattie <mike@ethernal.org> | 2011-01-16 00:10:30 +1300 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-01-16 14:35:29 -0800 |
| commit | add2802a8a33336180fe6856241a7f4a8200e89c (patch) | |
| tree | 2a2769760a786d90fcd4d03396d3884d02362e98 /src | |
| parent | 58838c0b96a91da0bd0cd77c3ff312b589c08136 (diff) | |
altos: Added check for out of bounds accel
Chose invalid flight mode instead of idle to give user feedback.
Signed-off-by: Mike Beattie <mike@ethernal.org>
Diffstat (limited to 'src')
| -rw-r--r-- | src/ao_flight.c | 13 |
1 files 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)); |