From ebb7f27962f0a8fd39cdb21a2ad1ec3194529401 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 27 Jan 2013 13:16:26 +1100
Subject: [PATCH] Plane: minor signed/type fixups

---
 ArduPlane/ArduPlane.pde      | 2 +-
 ArduPlane/commands_logic.pde | 4 ++--
 ArduPlane/navigation.pde     | 6 +++---
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 83d6cd2c91..3ed291518e 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -501,7 +501,7 @@ static int32_t nav_pitch_cd;
 uint32_t wp_distance;
 
 // Distance between previous and next waypoint.  Meters
-static int32_t wp_totalDistance;
+static uint32_t wp_totalDistance;
 
 // event control state
 enum event_type { 
diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde
index b0dd836421..b1c5b90259 100644
--- a/ArduPlane/commands_logic.pde
+++ b/ArduPlane/commands_logic.pde
@@ -359,7 +359,7 @@ static bool verify_nav_wp()
 {
     hold_course = -1;
     update_crosstrack();
-    if (wp_distance <= (unsigned)max(g.waypoint_radius,0)) {
+    if (wp_distance <= (uint32_t)max(g.waypoint_radius,0)) {
         gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"),
                           (unsigned)nav_command_index,
                           (unsigned)get_distance(&current_loc, &next_WP));
@@ -416,7 +416,7 @@ static bool verify_loiter_turns()
 
 static bool verify_RTL()
 {
-    if (wp_distance <= (unsigned)max(g.waypoint_radius,0)) {
+    if (wp_distance <= (uint32_t)max(g.waypoint_radius,0)) {
         gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));
         return true;
     }else{
diff --git a/ArduPlane/navigation.pde b/ArduPlane/navigation.pde
index 20bba7a29b..db984cc3dd 100644
--- a/ArduPlane/navigation.pde
+++ b/ArduPlane/navigation.pde
@@ -148,11 +148,11 @@ static void update_loiter()
 {
     float power;
 
-    if(wp_distance <= (unsigned)max(g.loiter_radius,0)) {
+    if(wp_distance <= (uint32_t)max(g.loiter_radius,0)) {
         power = float(wp_distance) / float(g.loiter_radius);
         power = constrain(power, 0.5, 1);
         nav_bearing_cd += 9000.0 * (2.0 + power);
-    } else if(wp_distance < (unsigned long)max((g.loiter_radius + LOITER_RANGE),0)) {
+    } else if(wp_distance < (uint32_t)max((g.loiter_radius + LOITER_RANGE),0)) {
         power = -((float)(wp_distance - g.loiter_radius - LOITER_RANGE) / LOITER_RANGE);
         power = constrain(power, 0.5, 1);                               //power = constrain(power, 0, 1);
         nav_bearing_cd -= power * 9000;
@@ -191,7 +191,7 @@ static void update_crosstrack(void)
     // Crosstrack Error
     // ----------------
     // If we are too far off or too close we don't do track following
-    if (wp_totalDistance >= (unsigned)max(g.crosstrack_min_distance,0) &&
+    if (wp_totalDistance >= (uint32_t)max(g.crosstrack_min_distance,0) &&
         abs(wrap_180_cd(target_bearing_cd - crosstrack_bearing_cd)) < 4500) {
         // Meters we are off track line
         crosstrack_error = sinf(radians((target_bearing_cd - crosstrack_bearing_cd) * 0.01)) * wp_distance;