altos/test: Compute and show height error tracker in ao_flight_test

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

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index ac41085df8166db526d26c0d5a95f5f750360056..e4cc6d4b9f73676fbc93b750ececfad91b2ed332 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -45,7 +45,11 @@ static __pdata ao_k_t                ao_avg_height_scaled;
 __xdata ao_v_t                 ao_avg_height;
 
 __pdata ao_v_t                 ao_error_h;
-#if !HAS_ACCEL
+#if !HAS_ACCEL || AO_FLIGHT_TEST
+#define AO_ERROR_H_SQ_AVG      1
+#endif
+
+#if AO_ERROR_H_SQ_AVG
 __pdata ao_v_t                 ao_error_h_sq_avg;
 #endif
 
@@ -85,7 +89,7 @@ ao_kalman_predict(void)
 static void
 ao_kalman_err_height(void)
 {
-#if !HAS_ACCEL
+#if AO_ERROR_H_SQ_AVG
        ao_v_t  e;
 #endif
        ao_v_t height_distrust;
@@ -95,7 +99,7 @@ ao_kalman_err_height(void)
 
        ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
 
-#if !HAS_ACCEL
+#if AO_ERROR_H_SQ_AVG
        e = ao_error_h;
        if (e < 0)
                e = -e;