altoslib: Missed a couple of easy mini voltage API changes

[fw/altos] / src / core / ao_kalman.c

diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
index 59ffd8b27267f24c7165fb835d24815ba4af7907..9aea1f14762f6139d9fb8dce932b98a6c946068d 100644 (file)
--- 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;
@@ -166,7 +166,7 @@ ao_kalman_err_accel(void)
 {
        int32_t accel;
 
-       accel = (ao_ground_accel - ao_sample_accel) * ao_accel_scale;
+       accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
 
        /* Can't use ao_accel here as it is the pre-prediction value still */
        ao_error_a = (accel - ao_k_accel) >> 16;
@@ -292,7 +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
 }