altos: Allow accel-only flight code

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

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 9cba36c1004b37ec31717e7c4431e08ede4bf615..b3e12b19df7579ff50734defc8153fa9247db8d3 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -36,9 +36,11 @@
 #endif
 
 uint16_t       ao_sample_tick;         /* time of last data */
+#if HAS_BARO
 pres_t         ao_sample_pres;
 alt_t          ao_sample_alt;
 alt_t          ao_sample_height;
+#endif
 #if HAS_ACCEL
 accel_t                ao_sample_accel;
 #endif
@@ -60,8 +62,10 @@ uint8_t              ao_sample_data;
  * Sensor calibration values
  */
 
+#if HAS_BARO
 pres_t         ao_ground_pres;         /* startup pressure */
 alt_t          ao_ground_height;       /* MSL of ao_ground_pres */
+#endif
 
 #if HAS_ACCEL
 accel_t                ao_ground_accel;        /* startup acceleration */
@@ -81,7 +85,9 @@ int32_t               ao_ground_roll;
 static uint8_t ao_preflight;           /* in preflight mode */
 
 static uint16_t        nsamples;
+#if HAS_BARO
 int32_t ao_sample_pres_sum;
+#endif
 #if HAS_ACCEL
 int32_t ao_sample_accel_sum;
 #endif
@@ -105,7 +111,9 @@ ao_sample_preflight_add(void)
 #if HAS_ACCEL
        ao_sample_accel_sum += ao_sample_accel;
 #endif
+#if HAS_BARO
        ao_sample_pres_sum += ao_sample_pres;
+#endif
 #if HAS_GYRO
        ao_sample_accel_along_sum += ao_sample_accel_along;
        ao_sample_accel_across_sum += ao_sample_accel_across;
@@ -171,9 +179,11 @@ ao_sample_preflight_set(void)
        ao_ground_accel = ao_sample_accel_sum >> 9;
        ao_sample_accel_sum = 0;
 #endif
+#if HAS_BARO
        ao_ground_pres = ao_sample_pres_sum >> 9;
        ao_ground_height = pres_to_altitude(ao_ground_pres);
        ao_sample_pres_sum = 0;
+#endif
 #if HAS_GYRO
        ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
        ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
@@ -375,8 +385,10 @@ ao_sample_init(void)
 {
        ao_config_get();
        nsamples = 0;
+#if HAS_BARO
        ao_sample_pres_sum = 0;
        ao_sample_pres = 0;
+#endif
 #if HAS_ACCEL
        ao_sample_accel_sum = 0;
        ao_sample_accel = 0;