X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_kalman.c;h=59ffd8b27267f24c7165fb835d24815ba4af7907;hb=57b4d82dee10b142b820aa306028a288a85214f6;hp=ee01949e5e54a416bc9737e56bb20a03261f8bc1;hpb=1c344b760776cd5d8c0297d8db9bf02687381b4e;p=fw%2Faltos

diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
index ee01949e..59ffd8b2 100644
--- a/src/core/ao_kalman.c
+++ b/src/core/ao_kalman.c
@@ -17,10 +17,13 @@
 
 #ifndef AO_FLIGHT_TEST
 #include "ao.h"
+#include "ao_flight.h"
 #endif
 
+#include "ao_sample.h"
 #include "ao_kalman.h"
 
+
 static __pdata int32_t		ao_k_height;
 static __pdata int32_t		ao_k_speed;
 static __pdata int32_t		ao_k_accel;
@@ -169,6 +172,7 @@ ao_kalman_err_accel(void)
 	ao_error_a = (accel - ao_k_accel) >> 16;
 }
 
+#ifndef FORCE_ACCEL
 static void
 ao_kalman_correct_both(void)
 {
@@ -239,7 +243,8 @@ 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)
 {
@@ -255,7 +260,8 @@ 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