#include <ao_data.h>
#endif
+#ifndef HAS_KALMAN
+#define HAS_KALMAN 1
+#endif
+
#if HAS_GYRO
#include <ao_quaternion.h>
#endif
angle_t ao_sample_orients[AO_NUM_ORIENT];
uint8_t ao_sample_orient_pos;
#endif
-#ifdef HAS_MOTOR_PRESSURE
+#if HAS_MOTOR_PRESSURE
motor_pressure_t ao_sample_motor_pressure;
#endif
++nsamples;
else
ao_sample_preflight_set();
-#if !HAS_BARO
+#if !HAS_BARO && HAS_KALMAN
if ((nsamples & 0x3f) == 0)
ao_kalman_reset_accumulate();
#endif
else {
if (ao_flight_state < ao_flight_boost)
ao_sample_preflight_update();
+#if HAS_KALMAN
ao_kalman();
+#endif
#if HAS_GYRO
ao_sample_rotate();
#endif