+void
+ao_pa_get(void);
+
+void
+ao_microflight(void);
+
+#define ACCEL_LOCK_PA -20
+#define ACCEL_LOCK_TIME 10
+
+extern uint32_t ao_k_pa; /* 24.8 fixed point */
+extern int32_t ao_k_pa_speed; /* 16.16 fixed point */
+extern int32_t ao_k_pa_accel; /* 16.16 fixed point */
+
+extern uint32_t ao_pa; /* integer portion */
+extern int16_t ao_pa_speed; /* integer portion */
+extern int16_t ao_pa_accel; /* integer portion */
+
+void
+ao_microkalman_init(void);
+
+void
+ao_microkalman_predict(void);
+
+void
+ao_microkalman_correct(void);
+