accumulated hacks

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 3e3ee77ac97fbc224430b22836ef8d42dece8290..ba1f00d0abc72196b89cdf9ca76b778ff3150eb9 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -21,6 +21,8 @@
 #include <ao_log.h>
 #endif
 
+#include <ao_flight.h>
+
 #if HAS_MPU6000 || HAS_MPU9250
 #include <ao_quaternion.h>
 #endif

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 4e7550c56dcd95d99d5730a6757c5fd8dc52dcd1..8cb6ff61fd403c305ca7a6c2dc0f513f07a0c162 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -293,7 +293,9 @@ ao_kalman(void)
 #endif
                ao_kalman_correct_baro();
 #else
+#if HAS_ACCEL
        ao_kalman_correct_accel();
+#endif
 #endif
        ao_height = from_fix(ao_k_height);
        ao_speed = from_fix(ao_k_speed);

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index b3e12b19df7579ff50734defc8153fa9247db8d3..33d4fc3562759627511cabc5f86932d04c672a55 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -21,6 +21,9 @@
 #include <ao_data.h>
 #endif
 
+#include <ao_sample.h>
+#include <ao_flight.h>
+
 #if HAS_GYRO
 #include <ao_quaternion.h>
 #endif