X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fdevices%2Frobot%2Fblocking_detection_manager%2Fblocking_detection_manager.c;h=1e3808bb1d5e1ac699ae6de9b151cb8f21cfc0a6;hp=8b5f54756bffa6e5925147da645ddd0528825dda;hb=bf5060a8c2deade2516d1cfeccae7137e740b4c4;hpb=876789a372da2e93a816428649e511c2ad9e40be

diff --git a/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c b/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c
index 8b5f547..1e3808b 100644
--- a/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c
+++ b/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c
@@ -71,6 +71,15 @@ void bd_reset(struct blocking_detection * bd)
 	IRQ_UNLOCK(flags);
 }
 
+static inline  uint8_t same_sign(int32_t a, int32_t b)
+{
+	if (a >= 0 && b >= 0)
+		return 1;
+	if (a < 0 && b < 0)
+		return 1;
+	return 0;
+}
+
 /** function to be called periodically */
 void bd_manage_from_speed_cmd(struct blocking_detection * bd,
 			      int32_t speed, int32_t cmd)
@@ -87,7 +96,7 @@ void bd_manage_from_speed_cmd(struct blocking_detection * bd,
 	 * has the same sign than i */
 	if ((uint32_t)ABS(i) > bd->i_thres &&
 	    (bd->speed_thres == 0 || ABS(speed) < bd->speed_thres) &&
-	    (i * cmd > 0)) {
+	    same_sign(i, cmd)) {
 		if (bd->cpt == bd->cpt_thres - 1)
 			WARNING(E_BLOCKING_DETECTION_MANAGER,
 				"BLOCKING cmd=%ld, speed=%ld i=%ld",