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
-       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