diff options
| author | Keith Packard <keithp@keithp.com> | 2013-05-07 19:29:06 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2013-05-07 20:08:01 -0700 |
| commit | 887209b61ac3012d0fd2206cf1016c44f59cb432 (patch) | |
| tree | a9dc066963f7edcc47ecb8eb9e90b39808d64ef3 /src | |
| parent | 802ca114ca064a9dd557a82e992653b145f8e660 (diff) | |
altos: Sanity check barometer before going to pad mode
Make sure the barometer is reporting some sensible value before
letting TM try to fly the rocket.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src')
| -rw-r--r-- | src/core/ao_flight.c | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c index 64c95063..9d9d4c6e 100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@ -94,7 +94,9 @@ ao_flight(void) if (ao_config.accel_plus_g == 0 || 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) + ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP || + ao_ground_height < -1000 || + ao_ground_height > 7000) { /* Detected an accel value outside -1.5g to 1.5g * (or uncalibrated values), so we go into invalid mode |