altos: Switch all tick variables to AO_TICK_TYPE/AO_TICK_SIGNED

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

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 2c77c36920ed5755046e158c9e32f4e92e2d9aae..e3b5e084d8f4c52ec454e30739910bfada8a9912 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -35,7 +35,7 @@
 #define ACCEL_TYPE int16_t
 #endif
 
-uint16_t       ao_sample_tick;         /* time of last data */
+AO_TICK_TYPE   ao_sample_tick;         /* time of last data */
 #if HAS_BARO
 pres_t         ao_sample_pres;
 alt_t          ao_sample_alt;
@@ -252,11 +252,13 @@ ao_sample_preflight_set(void)
         */
        ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
 #if HAS_FLIGHT_DEBUG
-       if (ao_orient_test)
+       if (ao_orient_test) {
                printf("\n\treset across %d through %d along %d\n",
                       (ao_ground_accel_across - ao_config.accel_zero_across),
                       (ao_ground_accel_through - ao_config.accel_zero_through),
                       (ao_ground_accel_along - ao_config.accel_zero_along));
+               fflush(stdout);
+       }
 #endif
 
        ao_sample_compute_orient();
@@ -266,14 +268,13 @@ ao_sample_preflight_set(void)
 }
 
 #if HAS_GYRO
-
 #define TIME_DIV       200.0f
 
 static void
 ao_sample_rotate(void)
 {
 #ifdef AO_FLIGHT_TEST
-       float   dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+       float   dt = (AO_TICK_SIGNED) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
 #else
        static const float dt = 1/TIME_DIV;
 #endif
@@ -295,6 +296,7 @@ ao_sample_rotate(void)
                        (int) (y * 1000),
                        (int) (z * 1000),
                        ao_sample_orient);
+               fflush(stdout);
        }
 #endif
        ao_sample_compute_orient();