X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_kalman.c;h=d401a3c8ff5bd04a88c7dea0216d53abcd145589;hp=7b0f8145d807ce74bd5db66c0d23408251a8d745;hb=cf20e213f39fb24f15e0ac94307c2d138fcadecb;hpb=4828be0ca5252ac9cd6061209385dcd6c4c57965

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 7b0f8145..d401a3c8 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -54,14 +55,14 @@ static void
 ao_kalman_predict(void)
 {
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
 		ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 +
 				(ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
 		ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1;
 
 		return;
 	}
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 +
 				(ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
 		ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10;
@@ -140,13 +141,13 @@ ao_kalman_correct_baro(void)
 {
 	ao_kalman_err_height();
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
 		ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h;
 		ao_k_speed  += (ao_k_t) AO_BARO_K1_1 * ao_error_h;
 		ao_k_accel  += (ao_k_t) AO_BARO_K2_1 * ao_error_h;
 		return;
 	}
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h;
 		ao_k_speed  += (ao_k_t) AO_BARO_K1_10 * ao_error_h;
 		ao_k_accel  += (ao_k_t) AO_BARO_K2_10 * ao_error_h;
@@ -179,7 +180,7 @@ ao_kalman_correct_both(void)
 	ao_kalman_err_accel();
 
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
 		if (ao_flight_debug) {
 			printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
 				ao_k_speed / (65536.0 * 16.0),
@@ -200,7 +201,7 @@ ao_kalman_correct_both(void)
 			(ao_k_t) AO_BOTH_K21_1 * ao_error_a;
 		return;
 	}
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		if (ao_flight_debug) {
 			printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
 				ao_k_speed / (65536.0 * 16.0),
@@ -249,7 +250,7 @@ ao_kalman_correct_accel(void)
 {
 	ao_kalman_err_accel();
 
-	if (ao_sample_tick - ao_sample_prev_tick > 5) {
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
 		ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a;
 		ao_k_speed  += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a;
 		ao_k_accel  += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a;
@@ -284,9 +285,9 @@ ao_kalman(void)
 		ao_max_height = ao_height;
 	ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
 #ifdef AO_FLIGHT_TEST
-	if (ao_sample_tick - ao_sample_prev_tick > 50)
+	if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50)
 		ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
-	else if (ao_sample_tick - ao_sample_prev_tick > 5)
+	else if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5)
 		ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
 	else 
 #endif