ao_error_a = (accel - ao_k_accel) >> 16;
}
+#ifndef FORCE_ACCEL
static void
ao_kalman_correct_both(void)
{
(int32_t) AO_BOTH_K21_100 * ao_error_a;
}
-#ifdef FORCE_ACCEL
+#else
+
static void
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;
}
-#endif
+
+#endif /* else FORCE_ACCEL */
#endif /* HAS_ACCEL */
void