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

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

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 168812b750aa70c03eeca94fa3a8cd6b20378e62..5f32eb7275de8357d8bb50a80680644dee4817e9 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -178,7 +178,7 @@ ao_kalman_err_accel(void)
        accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
 
        /* Can't use ao_accel here as it is the pre-prediction value still */
-       ao_error_a = (accel - ao_k_accel) >> 16;
+       ao_error_a = (ao_v_t) ((accel - ao_k_accel) >> 16);
 }
 
 #if !defined(FORCE_ACCEL) && HAS_BARO
@@ -314,9 +314,9 @@ ao_kalman(void)
        ao_kalman_correct_accel();
 #endif
 #endif
-       ao_height = from_fix(ao_k_height);
-       ao_speed = from_fix(ao_k_speed);
-       ao_accel = from_fix(ao_k_accel);
+       ao_height = (ao_v_t) from_fix(ao_k_height);
+       ao_speed = (ao_v_t) from_fix(ao_k_speed);
+       ao_accel = (ao_v_t) from_fix(ao_k_accel);
        if (ao_height > ao_max_height)
                ao_max_height = ao_height;
 #if HAS_BARO
@@ -331,5 +331,5 @@ ao_kalman(void)
                ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
        else 
 #endif
-               ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
+               ao_avg_height = (ao_v_t) ((ao_avg_height_scaled + 63) >> 7);
 }