altos: Switch all tick variables to AO_TICK_TYPE/AO_TICK_SIGNED

[fw/altos] / src / kernel / ao_flight.c

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 3c1067cb44e9e079675d863a2eb38368e096e733..8553ccc5854f8f4d27569e1ae8928aaf7fef63da 100644 (file)
--- 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
@@ -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) > BOOST_TICKS_MAX)
                        {
 #if HAS_ACCEL
 #if HAS_BARO
@@ -319,7 +319,7 @@ ao_flight(void)
                         * 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;
                        }
@@ -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[] = {