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AP_OpticalFlow: Change division to multiplication
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@ -189,8 +189,8 @@ void OpticalFlow::update(void)
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if (_calibrator->update()) {
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if (_calibrator->update()) {
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// apply new calibration values
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// apply new calibration values
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const Vector2f new_scaling = _calibrator->get_scalars();
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const Vector2f new_scaling = _calibrator->get_scalars();
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const float flow_scalerx_as_multiplier = (1.0 + (_flowScalerX / 1000.0)) * new_scaling.x;
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const float flow_scalerx_as_multiplier = (1.0 + (_flowScalerX * 0.001)) * new_scaling.x;
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const float flow_scalery_as_multiplier = (1.0 + (_flowScalerY / 1000.0)) * new_scaling.y;
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const float flow_scalery_as_multiplier = (1.0 + (_flowScalerY * 0.001)) * new_scaling.y;
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_flowScalerX.set_and_save_ifchanged((flow_scalerx_as_multiplier - 1.0) * 1000.0);
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_flowScalerX.set_and_save_ifchanged((flow_scalerx_as_multiplier - 1.0) * 1000.0);
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_flowScalerY.set_and_save_ifchanged((flow_scalery_as_multiplier - 1.0) * 1000.0);
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_flowScalerY.set_and_save_ifchanged((flow_scalery_as_multiplier - 1.0) * 1000.0);
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_flowScalerX.notify();
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_flowScalerX.notify();
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