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

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

diff --git a/src/kernel/ao_microflight.c b/src/kernel/ao_microflight.c
index f415420d6ea900015e220f894f5e0a0bdbf16e0d..bf994b8f80b647f1f56825053e1e0edb1e77e288 100644 (file)
--- a/src/kernel/ao_microflight.c
+++ b/src/kernel/ao_microflight.c
@@ -24,6 +24,7 @@
 
 uint32_t       pa;
 uint32_t       pa_ground;
+uint32_t       pa_ground_next;
 uint32_t       pa_min;
 
 static void
@@ -45,7 +46,7 @@ ao_microflight(void)
 {
        int16_t         sample_count;
        int16_t         log_count;
-       uint16_t        time;
+       AO_TICK_TYPE    time;
        uint32_t        pa_interval_min, pa_interval_max;
        int32_t         pa_diff;
        uint8_t         h;
@@ -58,7 +59,7 @@ ao_microflight(void)
        time = ao_time();
        ao_pa_get();
        ao_microkalman_init();
-       pa_ground = pa;
+       pa_ground_next = pa_ground = pa;
        sample_count = 0;
        h = 0;
        for (;;) {
@@ -75,7 +76,7 @@ ao_microflight(void)
 #endif
                pa_hist[h] = pa;
                h = SKIP_PA_HIST(h,1);
-               pa_diff = pa_ground - ao_pa;
+               pa_diff = (int32_t) (pa_ground - ao_pa);
 
 #if BOOST_DETECT
                /* Check for a significant pressure change */
@@ -88,7 +89,8 @@ ao_microflight(void)
                                pa_sum += pa;
                        ++sample_count;
                } else {
-                       pa_ground = pa_sum >> GROUND_AVG_SHIFT;
+                       pa_ground = pa_ground_next;
+                       pa_ground_next = pa_sum >> GROUND_AVG_SHIFT;
                        pa_sum = 0;
                        sample_count = 0;
 #if !BOOST_DETECT
@@ -143,7 +145,7 @@ ao_microflight(void)
                        pa_min = ao_pa;
 
                if (sample_count == (GROUND_AVG - 1)) {
-                       pa_diff = pa_interval_max - pa_interval_min;
+                       pa_diff = (int32_t) (pa_interval_max - pa_interval_min);
 
                        /* Check to see if the pressure is now stable */
                        if (pa_diff < LAND_DETECT)