[state interface] speed_norm_i is unsigned

paparazzi · Nov 18, 2014 · b0070b2 · b0070b2
1 parent c03427b
commit b0070b2
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/sw/airborne/state.c b/sw/airborne/state.c
@@ -762,8 +762,8 @@ void stateCalcHorizontalSpeedNorm_i(void) {
     state.h_speed_norm_i = SPEED_BFP_OF_REAL(state.h_speed_norm_f);
   }
   else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
-    int32_t n2 = (state.ned_speed_i.x*state.ned_speed_i.x +
-                  state.ned_speed_i.y*state.ned_speed_i.y) >> INT32_SPEED_FRAC;
+    uint32_t n2 = (state.ned_speed_i.x*state.ned_speed_i.x +
+                   state.ned_speed_i.y*state.ned_speed_i.y) >> INT32_SPEED_FRAC;
     INT32_SQRT(state.h_speed_norm_i, n2);
   }
   else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
@@ -772,8 +772,8 @@ void stateCalcHorizontalSpeedNorm_i(void) {
     state.h_speed_norm_i = SPEED_BFP_OF_REAL(state.h_speed_norm_f);
   }
   else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
-    int32_t n2 = (state.enu_speed_i.x*state.enu_speed_i.x +
-                  state.enu_speed_i.y*state.enu_speed_i.y) >> INT32_SPEED_FRAC;
+    uint32_t n2 = (state.enu_speed_i.x*state.enu_speed_i.x +
+                   state.enu_speed_i.y*state.enu_speed_i.y) >> INT32_SPEED_FRAC;
     INT32_SQRT(state.h_speed_norm_i, n2);
   }
   else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
@@ -785,8 +785,8 @@ void stateCalcHorizontalSpeedNorm_i(void) {
     /* transform ecef speed to ned, set status bit, then compute norm */
     ned_of_ecef_vect_i(&state.ned_speed_i, &state.ned_origin_i, &state.ecef_speed_i);
     SetBit(state.speed_status, SPEED_NED_I);
-    int32_t n2 = (state.ned_speed_i.x*state.ned_speed_i.x +
-                  state.ned_speed_i.y*state.ned_speed_i.y) >> INT32_SPEED_FRAC;
+    uint32_t n2 = (state.ned_speed_i.x*state.ned_speed_i.x +
+                   state.ned_speed_i.y*state.ned_speed_i.y) >> INT32_SPEED_FRAC;
     INT32_SQRT(state.h_speed_norm_i, n2);
   }
   else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) {

diff --git a/sw/airborne/state.h b/sw/airborne/state.h
@@ -277,7 +277,7 @@ struct State {
    * Norm of horizontal ground speed.
    * Unit: m/s in BFP with #INT32_SPEED_FRAC
    */
-  int32_t h_speed_norm_i;
+  uint32_t h_speed_norm_i;
 
   /**
    * Direction of horizontal ground speed.
@@ -816,7 +816,7 @@ static inline struct EcefCoor_i* stateGetSpeedEcef_i(void) {
 }
 
 /// Get norm of horizontal ground speed (int).
-static inline int32_t* stateGetHorizontalSpeedNorm_i(void) {
+static inline uint32_t* stateGetHorizontalSpeedNorm_i(void) {
   if (!bit_is_set(state.speed_status, SPEED_HNORM_I))
     stateCalcHorizontalSpeedNorm_i();
   return &state.h_speed_norm_i;