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altos: Perform time comparisons using 16-bit arithmetic to handle wrap
[fw/altos]
/
src
/
kernel
/
ao_sample.c
diff --git
a/src/kernel/ao_sample.c
b/src/kernel/ao_sample.c
index 90ea07adfa6843246dc6d3d52a14ad0298d5f0c3..f0ab0169805fb6a1db38ddde5ca7b803b2f530c9 100644
(file)
--- a/
src/kernel/ao_sample.c
+++ b/
src/kernel/ao_sample.c
@@
-180,7
+180,7
@@
static void
ao_sample_rotate(void)
{
#ifdef AO_FLIGHT_TEST
ao_sample_rotate(void)
{
#ifdef AO_FLIGHT_TEST
- float dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+ float dt = (
int16_t) (
ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
#else
static const float dt = 1/TIME_DIV;
#endif
#else
static const float dt = 1/TIME_DIV;
#endif