#pragma chip PIC18C252
#include "math24x.h"
uns16 ad_data;
fixed16_8 tx, av, mg, a, vx, prev, kp;

void main(void)
{
    vx = 3.127;
    tx += ad_data;    // automatic type cast
    ad_data = kp;     // assign integer part
    if ( tx < 0)
        tx = -tx;     // make positive
    av = tx/20.0;
    mg = av * 1.25;
    a = mg * 0.98;    // 0.980469: error on constant: 0.000478
    prev = vx;
    vx = a/5.0 + prev;

    kp = vx * 0.036;       // 0.03515626: error on constant: 0.024
    kp = vx / (1.0/0.036); // 27.7773437 error on constant: 0.0000156
}