X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_kalman.c;fp=src%2Fcore%2Fao_kalman.c;h=59ffd8b27267f24c7165fb835d24815ba4af7907;hp=68725f6978bf4c9cf3dc45b9ae97065624dde3ae;hb=6694cedd560a7ea9520ef11472c2770b489187c0;hpb=1ae3f467a1d7be2fc3b1a45ba12568a3a25a0099

diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
index 68725f69..59ffd8b2 100644
--- a/src/core/ao_kalman.c
+++ b/src/core/ao_kalman.c
@@ -172,6 +172,7 @@ ao_kalman_err_accel(void)
 	ao_error_a = (accel - ao_k_accel) >> 16;
 }
 
+#ifndef FORCE_ACCEL
 static void
 ao_kalman_correct_both(void)
 {
@@ -242,7 +243,8 @@ ao_kalman_correct_both(void)
 		(int32_t) AO_BOTH_K21_100 * ao_error_a;
 }
 
-#ifdef FORCE_ACCEL
+#else
+
 static void
 ao_kalman_correct_accel(void)
 {
@@ -258,7 +260,8 @@ ao_kalman_correct_accel(void)
 	ao_k_speed  += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
 	ao_k_accel  += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
 }
-#endif
+
+#endif /* else FORCE_ACCEL */
 #endif /* HAS_ACCEL */
 
 void