diff options
| -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 */ |