altosui: Add config and pyro tabs to graph widget

[fw/altos] / src / drivers / ao_companion.c

diff --git a/src/drivers/ao_companion.c b/src/drivers/ao_companion.c
index 093356a59981ecdea92b82927f3ac919f1a1facf..bda7805f30219c8cbd57bf22299e2c26bfa82b1f 100644 (file)
--- a/src/drivers/ao_companion.c
+++ b/src/drivers/ao_companion.c
@@ -28,7 +28,7 @@
 #error HAS_COMPANION not set in ao_companion.c
 #endif
 
-#define AO_COMPANION_SPI_SPEED ao_spi_speed(200000)
+#define AO_COMPANION_SPI_SPEED ao_spi_speed(AO_COMPANION_SPI_BUS, 200000)
 
 #define COMPANION_SELECT()     do {                    \
                ao_spi_get_bit(AO_COMPANION_CS_PORT,    \
@@ -55,12 +55,12 @@ ao_companion_send_command(uint8_t command)
 {
        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);
 }