X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.c;h=cee8b2b8b38d008c16460b5c293b8c4b326c005d;hb=HEAD;hp=3c1067cb44e9e079675d863a2eb38368e096e733;hpb=4370b7e7bc48d3f3f3ec94665449f1fde4e9567c;p=fw%2Faltos

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 3c1067cb..cee8b2b8 100644
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -50,8 +50,8 @@
 /* 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
@@ -63,7 +63,7 @@ uint8_t			ao_sensor_errors;
  * track min/max data over a long interval to detect
  * resting
  */
-static uint16_t		ao_interval_end;
+static AO_TICK_TYPE	ao_interval_end;
 #ifdef HAS_BARO
 static ao_v_t		ao_interval_min_height;
 static ao_v_t		ao_interval_max_height;
@@ -272,7 +272,7 @@ ao_flight(void)
 			 * (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) > (AO_TICK_SIGNED) BOOST_TICKS_MAX)
 			{
 #if HAS_ACCEL
 #if HAS_BARO
@@ -319,8 +319,8 @@ ao_flight(void)
 			 * number of seconds.
 			 */
 			if (ao_config.apogee_lockout) {
-				if ((int16_t) (ao_sample_tick - ao_launch_tick) <
-				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
+				if ((AO_TICK_SIGNED) (ao_sample_tick - ao_launch_tick) <
+				    (AO_TICK_SIGNED) AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 					break;
 			}
 
@@ -363,7 +363,7 @@ ao_flight(void)
 
 #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))
@@ -443,7 +443,7 @@ ao_flight(void)
 			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;
@@ -461,7 +461,7 @@ ao_flight(void)
 #if HAS_FLIGHT_DEBUG
 		case ao_flight_test:
 #if HAS_GYRO
-			printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
+			printf ("angle %4d pitch %7ld yaw %7ld roll %7ld\n",
 				ao_sample_orient,
 				((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
 				((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
@@ -492,14 +492,14 @@ ao_flight_dump(void)
 	printf ("sample:\n");
 	printf ("  tick        %d\n", ao_sample_tick);
 #if HAS_BARO
-	printf ("  raw pres    %d\n", ao_sample_pres);
+	printf ("  raw pres    %ld\n", ao_sample_pres);
 #endif
 #if HAS_ACCEL
 	printf ("  raw accel   %d\n", ao_sample_accel);
 #endif
 #if HAS_BARO
-	printf ("  ground pres %d\n", ao_ground_pres);
-	printf ("  ground alt  %d\n", ao_ground_height);
+	printf ("  ground pres %ld\n", ao_ground_pres);
+	printf ("  ground alt  %ld\n", ao_ground_height);
 #endif
 #if HAS_ACCEL
 	printf ("  raw accel   %d\n", ao_sample_accel);
@@ -508,8 +508,8 @@ ao_flight_dump(void)
 #endif
 
 #if HAS_BARO
-	printf ("  alt         %d\n", ao_sample_alt);
-	printf ("  height      %d\n", ao_sample_height);
+	printf ("  alt         %ld\n", ao_sample_alt);
+	printf ("  height      %ld\n", ao_sample_height);
 #endif
 
 #if HAS_ACCEL
@@ -518,12 +518,12 @@ ao_flight_dump(void)
 
 
 	printf ("kalman:\n");
-	printf ("  height      %d\n", ao_height);
+	printf ("  height      %ld\n", ao_height);
 	printf ("  speed       %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
 	printf ("  accel       %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
-	printf ("  max_height  %d\n", ao_max_height);
-	printf ("  avg_height  %d\n", ao_avg_height);
-	printf ("  error_h     %d\n", ao_error_h);
+	printf ("  max_height  %ld\n", ao_max_height);
+	printf ("  avg_height  %ld\n", ao_avg_height);
+	printf ("  error_h     %ld\n", ao_error_h);
 #if !HAS_ACCEL
 	printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 #endif
@@ -543,6 +543,7 @@ static void
 ao_orient_test_select(void)
 {
 	ao_orient_test = !ao_orient_test;
+	printf("orient test %d\n", ao_orient_test);
 }
 
 const struct ao_cmds ao_flight_cmds[] = {