diff options
| -rw-r--r-- | src/kernel/ao_kalman.c | 5 |
1 files changed, 0 insertions, 5 deletions
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c index d401a3c8..87f1bf66 100644 --- a/src/kernel/ao_kalman.c +++ b/src/kernel/ao_kalman.c @@ -96,13 +96,8 @@ ao_kalman_err_height(void) e = -e; if (e > 127) e = 127; -#if HAS_ACCEL - ao_error_h_sq_avg -= ao_error_h_sq_avg >> 2; - ao_error_h_sq_avg += (e * e) >> 2; -#else ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4; ao_error_h_sq_avg += (e * e) >> 4; -#endif if (ao_flight_state >= ao_flight_drogue) return; |