diff options
| -rw-r--r-- | src/ao_flight.c | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/ao_flight.c b/src/ao_flight.c index e8130baa..71dd4891 100644 --- a/src/ao_flight.c +++ b/src/ao_flight.c @@ -488,10 +488,21 @@ ao_flight(void) * transition is detected */ #if USE_KALMAN +#if HAS_ACCEL + /* + * With an accelerometer, either to detect launch + */ if ((ao_k_accel > to_fix32(20) && ao_k_speed > to_fix32(5)) || ao_k_height > to_fix32(20)) #else + /* + * Without an accelerometer, the barometer is far too + * noisy to rely on speed or acceleration data + */ + if (ao_k_height > to_fix32(20)) +#endif +#else if ( #if HAS_ACCEL (ao_flight_accel < ao_ground_accel - ACCEL_BOOST && |