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altos: Expose ao_usb_running globally
[fw/altos]
/
src
/
core
/
ao_kalman.c
diff --git
a/src/core/ao_kalman.c
b/src/core/ao_kalman.c
index 7fd4f88992c09035e321b954b616819c85345379..9aea1f14762f6139d9fb8dce932b98a6c946068d 100644
(file)
--- a/
src/core/ao_kalman.c
+++ b/
src/core/ao_kalman.c
@@
-166,7
+166,7
@@
ao_kalman_err_accel(void)
{
int32_t accel;
{
int32_t accel;
- accel = (ao_
ground_accel
- ao_sample_accel) * ao_accel_scale;
+ accel = (ao_
config.accel_plus_g
- ao_sample_accel) * ao_accel_scale;
/* Can't use ao_accel here as it is the pre-prediction value still */
ao_error_a = (accel - ao_k_accel) >> 16;
/* Can't use ao_accel here as it is the pre-prediction value still */
ao_error_a = (accel - ao_k_accel) >> 16;