X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=src%2Fkernel%2Fao_tracker.c;h=b7e634656285a2b823c9ff6cb088fbe4c81c5736;hb=7f46240dfc57164f0c1b0c4c4ed9695bca63860d;hp=46278530843cf36d527297acc0b93e1be1004bdd;hpb=34fda7bff76d59bcfbcec6a44275829c45e42189;p=fw%2Faltos

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index 46278530..b7e63465 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -30,7 +30,7 @@ static uint8_t		ao_tracker_force_telem;
 static inline uint8_t
 ao_usb_connected(void)
 {
-	return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
+	return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN) != 0;
 }
 #else
 #define ao_usb_connected()	1
@@ -63,7 +63,7 @@ ao_tracker(void)
 	uint8_t	new;
 	int32_t	ground_distance;
 	int16_t height;
-	uint16_t gps_tick;
+	AO_TICK_TYPE gps_tick;
 	uint8_t new_tracker_running;
 
 #if HAS_ADC
@@ -134,7 +134,7 @@ ao_tracker(void)
 						height = -height;
 
 					if (ao_tracker_force_telem > 1)
-						printf("head %d ring %d ground_distance %d height %d\n", gps_head, ring, ground_distance, height);
+						printf("head %d ring %d ground_distance %ld height %d\n", gps_head, ring, (long) ground_distance, height);
 					if (ground_distance > ao_config.tracker_motion ||
 					    height > (ao_config.tracker_motion << 1))
 					{
@@ -211,9 +211,9 @@ static struct ao_task ao_tracker_task;
 static void
 ao_tracker_set_telem(void)
 {
-	ao_cmd_hex();
+	uint16_t r = ao_cmd_hex();
 	if (ao_cmd_status == ao_cmd_success)
-		ao_tracker_force_telem = ao_cmd_lex_i;
+		ao_tracker_force_telem = r;
 	ao_cmd_status = ao_cmd_success;
 	printf ("flight: %d\n", ao_flight_number);
 	printf ("force_telem: %d\n", ao_tracker_force_telem);