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altos: Hook APRS up to the radio
[fw/altos]
/
src
/
core
/
ao_kalman.c
diff --git
a/src/core/ao_kalman.c
b/src/core/ao_kalman.c
index 68725f6978bf4c9cf3dc45b9ae97065624dde3ae..59ffd8b27267f24c7165fb835d24815ba4af7907 100644
(file)
--- a/
src/core/ao_kalman.c
+++ b/
src/core/ao_kalman.c
@@
-172,6
+172,7
@@
ao_kalman_err_accel(void)
ao_error_a = (accel - ao_k_accel) >> 16;
}
ao_error_a = (accel - ao_k_accel) >> 16;
}
+#ifndef FORCE_ACCEL
static void
ao_kalman_correct_both(void)
{
static void
ao_kalman_correct_both(void)
{
@@
-242,7
+243,8
@@
ao_kalman_correct_both(void)
(int32_t) AO_BOTH_K21_100 * ao_error_a;
}
(int32_t) AO_BOTH_K21_100 * ao_error_a;
}
-#ifdef FORCE_ACCEL
+#else
+
static void
ao_kalman_correct_accel(void)
{
static void
ao_kalman_correct_accel(void)
{
@@
-258,7
+260,8
@@
ao_kalman_correct_accel(void)
ao_k_speed += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
ao_k_accel += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
}
ao_k_speed += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
ao_k_accel += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
}
-#endif
+
+#endif /* else FORCE_ACCEL */
#endif /* HAS_ACCEL */
void
#endif /* HAS_ACCEL */
void