diff options
| -rw-r--r-- | src/kernel/ao_flight.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index cb02c454..7b3cb9fa 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -233,7 +233,7 @@ ao_flight(void) * deceleration, or by waiting until the maximum burn duration * (15 seconds) has past. */ - if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) || + if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) || (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX) { #if HAS_ACCEL @@ -310,7 +310,7 @@ ao_flight(void) #if HAS_ACCEL else { check_re_boost: - ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6); + ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5); if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) { ao_boost_tick = ao_sample_tick; ao_flight_state = ao_flight_boost; |