X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.h;h=475b3f6326ef8fc57301fcf1172c0310a14d262b;hb=4370b7e7bc48d3f3f3ec94665449f1fde4e9567c;hp=af6eca4e75d8a601e61078f8ec3b5e8584b91c06;hpb=c6e57291d91f1f6c4de5c54a5cfd3eef66d9f830;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h
index af6eca4e..475b3f63 100644
--- a/src/kernel/ao_sample.h
+++ b/src/kernel/ao_sample.h
@@ -133,16 +133,21 @@ extern accel_t	ao_ground_accel;	/* startup acceleration */
 extern accel_t 	ao_accel_2g;		/* factory accel calibration */
 extern int32_t	ao_accel_scale;		/* sensor to m/s² conversion */
 #endif
-#if HAS_GYRO
+#if HAS_IMU
 extern accel_t	ao_ground_accel_along;
 extern accel_t	ao_ground_accel_across;
 extern accel_t	ao_ground_accel_through;
-extern int32_t	ao_ground_pitch;	/* * 512 */
-extern int32_t	ao_ground_yaw;		/* * 512 */
-extern int32_t	ao_ground_roll;		/* * 512 */
 extern accel_t	ao_sample_accel_along;
 extern accel_t	ao_sample_accel_across;
 extern accel_t	ao_sample_accel_through;
+#endif
+#if HAS_GYRO
+#ifndef HAS_IMU
+#define HAS_IMU	1
+#endif
+extern int32_t	ao_ground_pitch;	/* * 512 */
+extern int32_t	ao_ground_yaw;		/* * 512 */
+extern int32_t	ao_ground_roll;		/* * 512 */
 extern gyro_t	ao_sample_roll;
 extern gyro_t	ao_sample_pitch;
 extern gyro_t	ao_sample_yaw;
@@ -154,7 +159,7 @@ extern uint8_t	ao_sample_orient_pos;
 
 void ao_sample_init(void);
 
-/* returns FALSE in preflight mode, TRUE in flight mode */
+/* returns false in preflight mode, true in flight mode */
 uint8_t ao_sample(void);
 
 /*
@@ -194,4 +199,8 @@ extern ao_v_t			ao_error_a;
 
 void ao_kalman(void);
 
+#if !HAS_BARO
+void ao_kalman_reset_accumulate(void);
+#endif
+
 #endif /* _AO_SAMPLE_H_ */