/* Main flight thread. */
enum ao_flight_state ao_flight_state; /* current flight state */
-uint16_t ao_boost_tick; /* time of most recent boost detect */
-uint16_t ao_launch_tick; /* time of first boost detect */
+AO_TICK_TYPE ao_boost_tick; /* time of most recent boost detect */
+AO_TICK_TYPE ao_launch_tick; /* time of first boost detect */
uint16_t ao_motor_number; /* number of motors burned so far */
#if HAS_SENSOR_ERRORS
* (15 seconds) has past.
*/
if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
- (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
+ (AO_TICK_SIGNED) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
{
#if HAS_ACCEL
#if HAS_BARO
* number of seconds.
*/
if (ao_config.apogee_lockout) {
- if ((int16_t) (ao_sample_tick - ao_launch_tick) <
+ if ((AO_TICK_SIGNED) (ao_sample_tick - ao_launch_tick) <
AO_SEC_TO_TICKS(ao_config.apogee_lockout))
break;
}
#define MAX_QUIET_ACCEL 2
- if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
+ if ((AO_TICK_SIGNED) (ao_sample_tick - ao_interval_end) >= 0) {
if (ao_interval_max_accel_along - ao_interval_min_accel_along <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
ao_interval_max_accel_across - ao_interval_min_accel_across <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
ao_interval_max_accel_through - ao_interval_min_accel_through <= ao_data_accel_to_sample(MAX_QUIET_ACCEL))
if (ao_avg_height > ao_interval_max_height)
ao_interval_max_height = ao_avg_height;
- if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
+ if ((AO_TICK_SIGNED) (ao_sample_tick - ao_interval_end) >= 0) {
if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
{
ao_flight_state = ao_flight_landed;