From 2b30e53ab56b48a172f23b8767bad4fda1660378 Mon Sep 17 00:00:00 2001
From: Paul Nykiel <paul.nykiel@gmail.com>
Date: Sun, 5 Apr 2020 12:29:12 +0200
Subject: [PATCH] Fixed a bug in the output filter

---
 Filters/OutputFilter/OutputFilter.cpp | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/Filters/OutputFilter/OutputFilter.cpp b/Filters/OutputFilter/OutputFilter.cpp
index ca19288..e250a8a 100644
--- a/Filters/OutputFilter/OutputFilter.cpp
+++ b/Filters/OutputFilter/OutputFilter.cpp
@@ -50,14 +50,20 @@ namespace filter {
                 networkOutPkg.setChannel(1, static_cast<uint16_t>(control.state.altitudeAboveGround * 10));
                 networkOutPkg.setChannel(2, static_cast<uint16_t>(control.state.lat * 10));
                 networkOutPkg.setChannel(3, static_cast<uint16_t>(control.state.lon * 10));
-                networkOutPkg.setChannel(4, static_cast<uint16_t>(control.state.roll*2 + 500));
-                networkOutPkg.setChannel(5, static_cast<uint16_t>(control.state.pitch*2 + 500));
-                networkOutPkg.setChannel(6, static_cast<uint16_t>(control.state.yaw*2 + 500));
+                networkOutPkg.setChannel(4, static_cast<uint16_t>(control.state.roll * 2 + 500));
+                networkOutPkg.setChannel(5, static_cast<uint16_t>(control.state.pitch * 2 + 500));
+                networkOutPkg.setChannel(6, static_cast<uint16_t>(control.state.yaw * 2 + 500));
                 networkOutPkg.setChannel(7, static_cast<uint16_t>(control.state.speed * 10));
                 networkOutPkg.setChannel(8, static_cast<uint16_t>(control.state.altitude));
-                networkOutPkg.setChannel(9, static_cast<uint16_t>(control.state.accX * 10) + 500);
-                networkOutPkg.setChannel(10, static_cast<uint16_t>(control.state.accY * 10) + 500);
-                networkOutPkg.setChannel(11, static_cast<uint16_t>(control.state.accZ * 10) + 500);
+                networkOutPkg.setChannel(9,
+                                         static_cast<uint16_t>(static_cast<si::default_type>(control.state.accX * 10) +
+                                                               500));
+                networkOutPkg.setChannel(10,
+                                         static_cast<uint16_t>(static_cast<si::default_type>(control.state.accY * 10) +
+                                                               500));
+                networkOutPkg.setChannel(11,
+                                         static_cast<uint16_t>(static_cast<si::default_type>(control.state.accZ * 10) +
+                                                               500));
                 networkOutPkg.setChannel(12, static_cast<uint16_t>(control.state.pdbPackage.voltageVcc * 50));
 
                 flightControllerOut.put(serialOutPkg);