X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_microkalman.c;h=ff543cc43ec8916c0c5475f5246fd43cbb5054d5;hp=0684ea2bbaad4b03e747ab6421b83dce885a78b3;hb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a;hpb=24167015705ae831692b95735968b04a876f935e

diff --git a/src/kernel/ao_microkalman.c b/src/kernel/ao_microkalman.c
index 0684ea2b..ff543cc4 100644
--- a/src/kernel/ao_microkalman.c
+++ b/src/kernel/ao_microkalman.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -22,19 +23,19 @@
 
 #define FIX_BITS	16
 
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define to_fix_v(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix_k(x) ((int32_t) ((x) * 65536.0 + 0.5))
 #define from_fix8(x)	((x) >> 8)
 #define from_fix(x)	((x) >> 16)
-#define fix8_to_fix16(x)	((x) << 8)
+#define fix8_to_fix_v(x)	((x) << 8)
 #define fix16_to_fix8(x)	((x) >> 8)
 
 #include <ao_kalman.h>
 
 /* Basic time step (96ms) */
-#define AO_MK_STEP	to_fix16(0.096)
+#define AO_MK_STEP	to_fix_v(0.096)
 /* step ** 2 / 2 */
-#define AO_MK_STEP_2_2	to_fix16(0.004608)
+#define AO_MK_STEP_2_2	to_fix_v(0.004608)
 
 uint32_t	ao_k_pa;		/* 24.8 fixed point */
 int32_t		ao_k_pa_speed;		/* 16.16 fixed point */
@@ -49,7 +50,7 @@ ao_microkalman_init(void)
 {
 	ao_pa = pa;
 	ao_k_pa = pa << 8;
-}	
+}
 
 void
 ao_microkalman_predict(void)