X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_kalman.c;h=762b2c0a45749f2b1cba48d685601bcead0f0cff;hb=488a527267decece48e6682e0e0c7fc29cbed329;hp=68725f6978bf4c9cf3dc45b9ae97065624dde3ae;hpb=78423f3fc5164ea9fd428606419784c1700ad5c5;p=fw%2Faltos

diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
index 68725f69..762b2c0a 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;
@@ -172,6 +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)
 {
@@ -242,7 +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)
 {
@@ -258,7 +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