{
ao_companion_command.command = command;
ao_companion_command.flight_state = ao_flight_state;
- ao_companion_command.tick = ao_time();
+ ao_companion_command.tick = (uint16_t) ao_time();
ao_companion_command.serial = ao_serial_number;
ao_companion_command.flight = ao_flight_number;
- ao_companion_command.accel = ao_accel;
- ao_companion_command.speed = ao_speed;
- ao_companion_command.height = ao_height;
+ ao_companion_command.accel = (int16_t) ao_accel;
+ ao_companion_command.speed = (int16_t) ao_speed;
+ ao_companion_command.height = (int16_t) ao_height;
ao_companion_command.motor_number = ao_motor_number;
ao_spi_send(&ao_companion_command, sizeof (ao_companion_command), AO_COMPANION_SPI_BUS);
}