X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=src%2Fcore%2Fao_kalman.c;h=9aea1f14762f6139d9fb8dce932b98a6c946068d;hb=cc06242e882cba462791962c199b7c89e79adc65;hp=59ffd8b27267f24c7165fb835d24815ba4af7907;hpb=6694cedd560a7ea9520ef11472c2770b489187c0;p=fw%2Faltos

diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
index 59ffd8b2..9aea1f14 100644
--- a/src/core/ao_kalman.c
+++ b/src/core/ao_kalman.c
@@ -40,9 +40,9 @@ static __pdata int32_t		ao_k_accel;
 __pdata int16_t			ao_height;
 __pdata int16_t			ao_speed;
 __pdata int16_t			ao_accel;
-__pdata int16_t			ao_max_height;
+__xdata int16_t			ao_max_height;
 static __pdata int32_t		ao_avg_height_scaled;
-__pdata int16_t			ao_avg_height;
+__xdata int16_t			ao_avg_height;
 
 __pdata int16_t			ao_error_h;
 __pdata int16_t			ao_error_h_sq_avg;
@@ -166,7 +166,7 @@ ao_kalman_err_accel(void)
 {
 	int32_t	accel;
 
-	accel = (ao_ground_accel - ao_sample_accel) * ao_accel_scale;
+	accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
 
 	/* Can't use ao_accel here as it is the pre-prediction value still */
 	ao_error_a = (accel - ao_k_accel) >> 16;
@@ -292,7 +292,4 @@ ao_kalman(void)
 	else 
 #endif
 		ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
-#ifdef AO_FLIGHT_TEST
-	ao_sample_prev_tick = ao_sample_tick;
-#endif
 }