easymotor-v3.0: Use motor pressure to trigger data logging

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

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 3f5fc7a98c557af012d053dd0b14068305f6924b..422ccec610332c78fc8286cf26670c6c5a62fd1f 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -21,6 +21,10 @@
 #include <ao_data.h>
 #endif
 
+#ifndef HAS_KALMAN
+#define HAS_KALMAN 1
+#endif
+
 #if HAS_GYRO
 #include <ao_quaternion.h>
 #endif
@@ -57,7 +61,7 @@ angle_t               ao_sample_orient;
 angle_t                ao_sample_orients[AO_NUM_ORIENT];
 uint8_t                ao_sample_orient_pos;
 #endif
-#ifdef HAS_MOTOR_PRESSURE
+#if HAS_MOTOR_PRESSURE
 motor_pressure_t       ao_sample_motor_pressure;
 #endif
 
@@ -340,7 +344,7 @@ ao_sample_preflight_update(void)
                ++nsamples;
        else
                ao_sample_preflight_set();
-#if !HAS_BARO
+#if !HAS_BARO && HAS_KALMAN
        if ((nsamples & 0x3f) == 0)
                ao_kalman_reset_accumulate();
 #endif
@@ -406,7 +410,9 @@ ao_sample(void)
                else {
                        if (ao_flight_state < ao_flight_boost)
                                ao_sample_preflight_update();
+#if HAS_KALMAN
                        ao_kalman();
+#endif
 #if HAS_GYRO
                        ao_sample_rotate();
 #endif