X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_tracker.c;fp=src%2Fkernel%2Fao_tracker.c;h=e45653a69fc9ef529b88b54fb2fa35470ab1b78b;hp=b7e634656285a2b823c9ff6cb088fbe4c81c5736;hb=c49bd3cb0c31a51fae79ddc92237cc309be9a242;hpb=d225adc3af9e5726d436cbbdbf8dcc5837e50804

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index b7e63465..e45653a6 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -55,14 +55,14 @@ static uint8_t	tracker_mutex;
 static uint8_t	log_started;
 static struct ao_telemetry_location gps_data;
 static uint8_t	tracker_running;
-static uint16_t tracker_interval;
+static uint8_t	tracker_interval;
 
 static void
 ao_tracker(void)
 {
 	uint8_t	new;
-	int32_t	ground_distance;
-	int16_t height;
+	uint32_t ground_distance;
+	gps_alt_t height;
 	AO_TICK_TYPE gps_tick;
 	uint8_t new_tracker_running;
 
@@ -134,8 +134,8 @@ ao_tracker(void)
 						height = -height;
 
 					if (ao_tracker_force_telem > 1)
-						printf("head %d ring %d ground_distance %ld height %d\n", gps_head, ring, (long) ground_distance, height);
-					if (ground_distance > ao_config.tracker_motion ||
+						printf("head %d ring %d ground_distance %lu height %ld\n", gps_head, ring, (long) ground_distance, height);
+					if (ground_distance > (uint32_t) ao_config.tracker_motion ||
 					    height > (ao_config.tracker_motion << 1))
 					{
 						moving = 1;
@@ -186,9 +186,9 @@ ao_gps_lock(void)
 static uint8_t erasing_current;
 
 void
-ao_tracker_erase_start(uint16_t flight)
+ao_tracker_erase_start(int32_t flight)
 {
-	erasing_current = flight == ao_flight_number;
+	erasing_current = flight == (int32_t) ao_flight_number;
 	if (erasing_current) {
 		ao_mutex_get(&tracker_mutex);
 		ao_log_stop();
@@ -211,9 +211,9 @@ static struct ao_task ao_tracker_task;
 static void
 ao_tracker_set_telem(void)
 {
-	uint16_t r = ao_cmd_hex();
+	uint32_t r = ao_cmd_hex();
 	if (ao_cmd_status == ao_cmd_success)
-		ao_tracker_force_telem = r;
+		ao_tracker_force_telem = r != 0;
 	ao_cmd_status = ao_cmd_success;
 	printf ("flight: %d\n", ao_flight_number);
 	printf ("force_telem: %d\n", ao_tracker_force_telem);