X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=e3b5e084d8f4c52ec454e30739910bfada8a9912;hp=2c77c36920ed5755046e158c9e32f4e92e2d9aae;hb=7f46240dfc57164f0c1b0c4c4ed9695bca63860d;hpb=c5796f686b1bf9e4effd7f9d8dca2ee5d7a38a16

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 2c77c369..e3b5e084 100644
--- 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();