diff options
Diffstat (limited to 'src/core/ao_kalman.c')
| -rw-r--r-- | src/core/ao_kalman.c | 7 |
1 files changed, 5 insertions, 2 deletions
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 |