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

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

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index e3b5e084d8f4c52ec454e30739910bfada8a9912..3f5fc7a98c557af012d053dd0b14068305f6924b 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -161,7 +161,7 @@ static void
 ao_sample_set_one_orient(void)
 {
        ao_sample_orients[ao_sample_orient_pos] = ao_sample_orient;
-       ao_sample_orient_pos = (ao_sample_orient_pos + 1) % AO_NUM_ORIENT;
+       ao_sample_orient_pos = (uint8_t) ((ao_sample_orient_pos + 1) % AO_NUM_ORIENT);
 }
 
 static void
@@ -190,7 +190,7 @@ ao_sample_compute_orient(void)
        float rotz;
        rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
 
-       ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
+       ao_sample_orient = (angle_t) (acosf(rotz) * (float) (180.0/M_PI));
 }
 #endif /* HAS_GYRO */
 
@@ -198,7 +198,7 @@ static void
 ao_sample_preflight_set(void)
 {
 #if HAS_ACCEL
-       ao_ground_accel = ao_sample_accel_sum >> 9;
+       ao_ground_accel = (accel_t) (ao_sample_accel_sum >> 9);
        ao_sample_accel_sum = 0;
 #endif
 #if HAS_BARO
@@ -207,15 +207,15 @@ ao_sample_preflight_set(void)
        ao_sample_pres_sum = 0;
 #endif
 #if HAS_IMU
-       ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
-       ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
-       ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
+       ao_ground_accel_along = (accel_t) (ao_sample_accel_along_sum >> 9);
+       ao_ground_accel_across = (accel_t) (ao_sample_accel_across_sum >> 9);
+       ao_ground_accel_through = (accel_t) (ao_sample_accel_through_sum >> 9);
        ao_sample_accel_along_sum = 0;
        ao_sample_accel_across_sum = 0;
        ao_sample_accel_through_sum = 0;
 #endif
 #if HAS_MOTOR_PRESSURE
-       ao_ground_motor_pressure = ao_sample_motor_pressure_sum >> 9;
+       ao_ground_motor_pressure = (motor_pressure_t) (ao_sample_motor_pressure_sum >> 9);
        ao_sample_motor_pressure_sum = 0;
 #endif
 #if HAS_GYRO