X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_kalman.c;h=cdf64bec9052e106fa43cabdbb3015955c9645d2;hb=ba0239ca6839605c7ce45d56677bb9a3b782b7f2;hp=168812b750aa70c03eeca94fa3a8cd6b20378e62;hpb=bdf0671cb36daca741c4842a37a3fc71744a63a2;p=fw%2Faltos

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 168812b7..cdf64bec 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -178,7 +178,7 @@ ao_kalman_err_accel(void)
 	accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
 
 	/* Can't use ao_accel here as it is the pre-prediction value still */
-	ao_error_a = (accel - ao_k_accel) >> 16;
+	ao_error_a = (ao_v_t) ((accel - ao_k_accel) >> 16);
 }
 
 #if !defined(FORCE_ACCEL) && HAS_BARO
@@ -331,5 +331,5 @@ ao_kalman(void)
 		ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
 	else 
 #endif
-		ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
+		ao_avg_height = (ao_v_t) ((ao_avg_height_scaled + 63) >> 7);
 }