X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_tracker.c;h=1454c17c31815aadd08c9d060f10a81cacf78711;hb=HEAD;hp=f79bd18ae957d4e1d1516c6e1971a1a208e66be0;hpb=c417ab1de2a083b5fcff2e081e4feb2a65887903;p=fw%2Faltos

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index f79bd18a..e45653a6 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
@@ -55,15 +55,15 @@ static uint8_t	tracker_mutex;
 static uint8_t	log_started;
 static struct ao_telemetry_location gps_data;
 static uint8_t	tracker_running;
-static uint16_t tracker_interval;
+static uint8_t	tracker_interval;
 
 static void
 ao_tracker(void)
 {
 	uint8_t	new;
-	int32_t	ground_distance;
-	int16_t height;
-	uint16_t gps_tick;
+	uint32_t ground_distance;
+	gps_alt_t height;
+	AO_TICK_TYPE gps_tick;
 	uint8_t new_tracker_running;
 
 #if HAS_ADC
@@ -134,8 +134,8 @@ 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);
-					if (ground_distance > ao_config.tracker_motion ||
+						printf("head %d ring %d ground_distance %lu height %ld\n", gps_head, ring, (long) ground_distance, height);
+					if (ground_distance > (uint32_t) ao_config.tracker_motion ||
 					    height > (ao_config.tracker_motion << 1))
 					{
 						moving = 1;
@@ -186,9 +186,9 @@ ao_gps_lock(void)
 static uint8_t erasing_current;
 
 void
-ao_tracker_erase_start(uint16_t flight)
+ao_tracker_erase_start(int32_t flight)
 {
-	erasing_current = flight == ao_flight_number;
+	erasing_current = flight == (int32_t) ao_flight_number;
 	if (erasing_current) {
 		ao_mutex_get(&tracker_mutex);
 		ao_log_stop();
@@ -211,9 +211,9 @@ static struct ao_task ao_tracker_task;
 static void
 ao_tracker_set_telem(void)
 {
-	uint16_t r = ao_cmd_hex();
+	uint32_t r = ao_cmd_hex();
 	if (ao_cmd_status == ao_cmd_success)
-		ao_tracker_force_telem = r;
+		ao_tracker_force_telem = r != 0;
 	ao_cmd_status = ao_cmd_success;
 	printf ("flight: %d\n", ao_flight_number);
 	printf ("force_telem: %d\n", ao_tracker_force_telem);