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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 */
/* 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
*/
/*
* 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;
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 (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;
if (ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
{
ao_flight_state = ao_flight_landed;