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altos/scheme: Support scheme subsetting via feature settings
[fw/altos]
/
src
/
kernel
/
ao_kalman.c
diff --git
a/src/kernel/ao_kalman.c
b/src/kernel/ao_kalman.c
index 82315c485de086b7f3b0cb64a462a878ac620119..ac41085df8166db526d26c0d5a95f5f750360056 100644
(file)
--- a/
src/kernel/ao_kalman.c
+++ b/
src/kernel/ao_kalman.c
@@
-45,7
+45,9
@@
static __pdata ao_k_t ao_avg_height_scaled;
__xdata ao_v_t ao_avg_height;
__pdata ao_v_t ao_error_h;
__xdata ao_v_t ao_avg_height;
__pdata ao_v_t ao_error_h;
+#if !HAS_ACCEL
__pdata ao_v_t ao_error_h_sq_avg;
__pdata ao_v_t ao_error_h_sq_avg;
+#endif
#if HAS_ACCEL
__pdata ao_v_t ao_error_a;
#if HAS_ACCEL
__pdata ao_v_t ao_error_a;
@@
-83,7
+85,9
@@
ao_kalman_predict(void)
static void
ao_kalman_err_height(void)
{
static void
ao_kalman_err_height(void)
{
+#if !HAS_ACCEL
ao_v_t e;
ao_v_t e;
+#endif
ao_v_t height_distrust;
#if HAS_ACCEL
ao_v_t speed_distrust;
ao_v_t height_distrust;
#if HAS_ACCEL
ao_v_t speed_distrust;
@@
-91,6
+95,7
@@
ao_kalman_err_height(void)
ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
+#if !HAS_ACCEL
e = ao_error_h;
if (e < 0)
e = -e;
e = ao_error_h;
if (e < 0)
e = -e;
@@
-98,6
+103,7
@@
ao_kalman_err_height(void)
e = 127;
ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
ao_error_h_sq_avg += (e * e) >> 4;
e = 127;
ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
ao_error_h_sq_avg += (e * e) >> 4;
+#endif
if (ao_flight_state >= ao_flight_drogue)
return;
if (ao_flight_state >= ao_flight_drogue)
return;