extern __pdata gyro_t ao_sample_roll;
extern __pdata gyro_t ao_sample_pitch;
extern __pdata gyro_t ao_sample_yaw;
+#define AO_NUM_ORIENT 64
extern __pdata angle_t ao_sample_orient;
+extern __pdata angle_t ao_sample_orients[AO_NUM_ORIENT];
+extern __pdata uint8_t ao_sample_orient_pos;
#endif
void ao_sample_init(void);
extern __xdata ao_v_t ao_avg_height; /* running average of height */
extern __pdata ao_v_t ao_error_h;
+#if !HAS_ACCEL
extern __pdata ao_v_t ao_error_h_sq_avg;
+#endif
#if HAS_ACCEL
extern __pdata ao_v_t ao_error_a;