From 76ac14d3c4e44c22b04b312acfa34186dfb028d0 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 23 Feb 2014 19:05:32 -0800
Subject: [PATCH] Use right combination of casts

---
 src/modules/fw_att_pos_estimator/estimator.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/fw_att_pos_estimator/estimator.cpp
index e449a66028..c9e809280d 100644
--- a/src/modules/fw_att_pos_estimator/estimator.cpp
+++ b/src/modules/fw_att_pos_estimator/estimator.cpp
@@ -1617,11 +1617,11 @@ void StoreStates(uint64_t timestamp_ms)
 // Output the state vector stored at the time that best matches that specified by msec
 void RecallStates(float (&statesForFusion)[n_states], uint64_t msec)
 {
-    long int bestTimeDelta = 200;
+    int64_t bestTimeDelta = 200;
     unsigned bestStoreIndex = 0;
     for (unsigned storeIndex = 0; storeIndex < data_buffer_size; storeIndex++)
     {
-        int64_t timeDelta = (int64_t)msec - statetimeStamp[storeIndex];
+        int64_t timeDelta = (int)msec - statetimeStamp[storeIndex];
         if (timeDelta < 0) timeDelta = -timeDelta;
         if (timeDelta < bestTimeDelta)
         {