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| author | Bdale Garbee <bdale@gag.com> | 2018-08-05 11:24:13 +0800 |
|---|---|---|
| committer | Bdale Garbee <bdale@gag.com> | 2018-08-05 11:24:13 +0800 |
| commit | a3b4f0d33e9d13fb5294397304ec0eb44ecaf1fc (patch) | |
| tree | 69c563070ea7ca4a127f2ac925f18a36acb888bb /src/kernel/ao_kalman.c | |
| parent | 67da03d1382228a95d0414294703371cf32e666e (diff) | |
| parent | 3a2a5a05bb6372d9003905cee7afdfcd6d38ae7e (diff) | |
Merge branch 'branch-1.8' into debian
Diffstat (limited to 'src/kernel/ao_kalman.c')
| -rw-r--r-- | src/kernel/ao_kalman.c | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c index ac41085d..e4cc6d4b 100644 --- a/src/kernel/ao_kalman.c +++ b/src/kernel/ao_kalman.c @@ -45,7 +45,11 @@ static __pdata ao_k_t ao_avg_height_scaled; __xdata ao_v_t ao_avg_height; __pdata ao_v_t ao_error_h; -#if !HAS_ACCEL +#if !HAS_ACCEL || AO_FLIGHT_TEST +#define AO_ERROR_H_SQ_AVG 1 +#endif + +#if AO_ERROR_H_SQ_AVG __pdata ao_v_t ao_error_h_sq_avg; #endif @@ -85,7 +89,7 @@ ao_kalman_predict(void) static void ao_kalman_err_height(void) { -#if !HAS_ACCEL +#if AO_ERROR_H_SQ_AVG ao_v_t e; #endif ao_v_t height_distrust; @@ -95,7 +99,7 @@ ao_kalman_err_height(void) ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16); -#if !HAS_ACCEL +#if AO_ERROR_H_SQ_AVG e = ao_error_h; if (e < 0) e = -e; |