Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

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

diff --git a/src/kernel/ao_flight_nano.c b/src/kernel/ao_flight_nano.c
index 96d47fac6b33fd5dc29f9d9a17961cab2d229812..09e74901f44d6bea33fc42e215e4310cb76daf46 100644 (file)
--- a/src/kernel/ao_flight_nano.c
+++ b/src/kernel/ao_flight_nano.c
@@ -21,13 +21,13 @@
 /* Main flight thread. */
 
 enum ao_flight_state   ao_flight_state;        /* current flight state */
-uint16_t               ao_launch_tick;         /* time of launch detect */
+AO_TICK_TYPE           ao_launch_tick;         /* time of launch detect */
 
 /*
  * track min/max data over a long interval to detect
  * resting
  */
-uint16_t               ao_interval_end;
+AO_TICK_TYPE           ao_interval_end;
 alt_t                  ao_interval_min_height;
 alt_t                  ao_interval_max_height;
 
@@ -94,7 +94,7 @@ ao_flight_nano(void)
                        if (ao_height > ao_interval_max_height)
                                ao_interval_max_height = ao_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(5))
                                {
                                        ao_flight_state = ao_flight_landed;