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-rw-r--r--digital/avr/modules/path/astar/astar.c1
-rw-r--r--digital/avr/modules/path/astar/astar.h4
2 files changed, 3 insertions, 2 deletions
diff --git a/digital/avr/modules/path/astar/astar.c b/digital/avr/modules/path/astar/astar.c
index a5d4bd48..4b2c816e 100644
--- a/digital/avr/modules/path/astar/astar.c
+++ b/digital/avr/modules/path/astar/astar.c
@@ -70,6 +70,7 @@ astar (struct astar_node_t *nodes, uint8_t nodes_nb, uint8_t initial,
/* OK, there is some work, move this node to the closed set, it will
* never be consider again. */
nodes[lowest_node].score = ASTAR_NODE_SCORE_CLOSED;
+ nodes[lowest_node].heuristic = 0;
/* Now, process all its neighbors. */
struct astar_neighbor_t neighbors[nodes_nb - 1];
uint8_t neighbors_nb = AC_ASTAR_NEIGHBOR_CALLBACK (lowest_node,
diff --git a/digital/avr/modules/path/astar/astar.h b/digital/avr/modules/path/astar/astar.h
index 5122b6c3..ee82b2cc 100644
--- a/digital/avr/modules/path/astar/astar.h
+++ b/digital/avr/modules/path/astar/astar.h
@@ -26,9 +26,9 @@
* }}} */
/** Used instead of score for a unvisited node. */
-#define ASTAR_NODE_SCORE_UNVISITED 0xffff
+#define ASTAR_NODE_SCORE_UNVISITED ((uint16_t) 0xffff)
/** Used instead of score for a node in the closed set. */
-#define ASTAR_NODE_SCORE_CLOSED 0xfffe
+#define ASTAR_NODE_SCORE_CLOSED ((uint16_t) 0xfffe)
/** Test whether a node is in the open set. */
#define ASTAR_NODE_SCORE_OPEN(score) ((score) < ASTAR_NODE_SCORE_CLOSED)