X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_kalman.c;h=7fd4f88992c09035e321b954b616819c85345379;hb=d96fd33aa8a220d547512eb43c88fc8f5651e39e;hp=ee01949e5e54a416bc9737e56bb20a03261f8bc1;hpb=128bbfa150f88c09f7adde2434b7bf0b5a9ed556;p=fw%2Faltos

diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
index ee01949e..7fd4f889 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;
@@ -37,9 +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;
@@ -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
@@ -286,7 +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
 }