X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_kalman.c;fp=src%2Fkernel%2Fao_kalman.c;h=87f1bf66f6147e372edad8a94513802aa11c1774;hb=12ef994a24eb996458092dc35c671d6b824b1576;hp=d401a3c8ff5bd04a88c7dea0216d53abcd145589;hpb=f972000642f9c9835a0b7d14155d4c5695455d94;p=fw%2Faltos

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index d401a3c8..87f1bf66 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -96,13 +96,8 @@ ao_kalman_err_height(void)
 		e = -e;
 	if (e > 127)
 		e = 127;
-#if HAS_ACCEL
-	ao_error_h_sq_avg -= ao_error_h_sq_avg >> 2;
-	ao_error_h_sq_avg += (e * e) >> 2;
-#else
 	ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
 	ao_error_h_sq_avg += (e * e) >> 4;
-#endif
 
 	if (ao_flight_state >= ao_flight_drogue)
 		return;