altos: Use 32-bits for flight state data (alt/speed/accel)

[fw/altos] / src / kernel / ao_microkalman.c

diff --git a/src/kernel/ao_microkalman.c b/src/kernel/ao_microkalman.c
index 0684ea2bbaad4b03e747ab6421b83dce885a78b3..75a29cc41d9d7a43e1a817f3d7289717e479a742 100644 (file)
--- a/src/kernel/ao_microkalman.c
+++ b/src/kernel/ao_microkalman.c
@@ -22,19 +22,19 @@
 
 #define FIX_BITS       16
 
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define to_fix_v(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix_k(x) ((int32_t) ((x) * 65536.0 + 0.5))
 #define from_fix8(x)   ((x) >> 8)
 #define from_fix(x)    ((x) >> 16)
-#define fix8_to_fix16(x)       ((x) << 8)
+#define fix8_to_fix_v(x)       ((x) << 8)
 #define fix16_to_fix8(x)       ((x) >> 8)
 
 #include <ao_kalman.h>
 
 /* Basic time step (96ms) */
-#define AO_MK_STEP     to_fix16(0.096)
+#define AO_MK_STEP     to_fix_v(0.096)
 /* step ** 2 / 2 */
-#define AO_MK_STEP_2_2 to_fix16(0.004608)
+#define AO_MK_STEP_2_2 to_fix_v(0.004608)
 
 uint32_t       ao_k_pa;                /* 24.8 fixed point */
 int32_t                ao_k_pa_speed;          /* 16.16 fixed point */
@@ -49,7 +49,7 @@ ao_microkalman_init(void)
 {
        ao_pa = pa;
        ao_k_pa = pa << 8;
-}      
+}
 
 void
 ao_microkalman_predict(void)