using HAL to correct axis errors

./custom.hal:3: Can't find module 'nonsquare_table.ko' in /usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc

net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd

loadrt nonsquare-table 
addf nonsquare_table servo-thread
net xpos-cmd => nonsquare-table.0.x-in
net ypos-cmd <= axis.1.motor-pos-cmd
net ypos-cmd => nonsquare-table.0.y-in
net nonsquare-table.0.y-out => stepgen.1.position-cmd

net xpos-cmd => nonsquare-table.0.x-in
net ypos-cmd => nonsquare-table.0.y-in

component nonsquare_table;
license "GPL"; // GPL v2 or later

pin in float x-in;
pin in float y-in;
pin out float y-out;
function cmd;

pin in float x-fb-in;
pin in float y-fb-in;
pin out float y-fb-out;
function fb;

;;

FUNCTION(cmd){
    y_out = y_in + x_in * 0.007;
}

FUNCTION(fb){
    y_fb_out = y_fb_in - x_fb_in * 0.007;
}

loadrt nonsquare_table
addf nonsquare-table.0.cmd servo-thread
addf nonsquare-table.0.fb servo-thread


delsig ypos-cmd

net xpos-cmd => nonsquare-table.0.x-in
net ypos-cmd axis.1.motor-pos-cmd => nonsquare-table.0.y-in
net ypos-cmd-adjusted nonsquare-table.0.y-out => stepgen.1.position-cmd

delsig ypos-fb

net xpos-fb => nonsquare-table.0.x-fb-in
net ypos-fb-adjusted stepgen.1.position-fb => nonsquare-table.0.y-fb-in
net ypos-fb nonsquare-table.0.y-fb-out => axis.1.motor-pos-fb

if(!is_jogging){
   // Adjust for crooked table
}

component nonsquare_table """Adjusts for non-square X-Y tables.
    The value of Y is modified linearly based on the value of X,
    i.e.  newY = Y + X * deviation.  Pins are provided for doing
    both the forward and reverse (feedback) transform.  Should
    be inserted between axis and stepgen (or equivalent) components.
    The 'deviation' multiplier is supplied as a parameter, and
    defaults to 0.0.""";
license "GPL"; // GPL v2 or later

option singleton yes;


pin in float x-in;
pin in float y-in;
pin out float y-out "y-out = y-in + x-in * deviation";
function cmd;

pin in float x-fb-in;
pin in float y-fb-in;
pin out float y-fb-out "y-fb-out = y-fb-in - x-fb-in * deviation";
function fb;

param rw float deviation = 0.0;


;;

FUNCTION(cmd){
    y_out = y_in + x_in * deviation;
}

FUNCTION(fb){
    y_fb_out = y_fb_in - x_fb_in * deviation;
}