SITL: Change division to multiplication

libraries/SITL/SIM_Gripper_EPM.cpp

@@ -68,16 +68,16 @@ void Gripper_EPM::update_from_demand()
     const float dt = (now - last_update_us) * 1.0e-6f;
 
     // decay the field
-    field_strength = field_strength * (100.0f - field_decay_rate * dt) / 100.0f;
+    field_strength = field_strength * (100.0f - field_decay_rate * dt) * 0.01f;
 
     // note that "demand" here is just an on/off switch; we only care
     // about which range it falls into
     if (demand > 0.6f) {
         // we are instructed to grip harder
-        field_strength = field_strength + (100.0f - field_strength) * field_strength_slew_rate / 100.0f * dt;
+        field_strength = field_strength + (100.0f - field_strength) * field_strength_slew_rate * 0.01f * dt;
     } else if (demand < 0.4f) {
         // we are instructed to loosen grip
-        field_strength = field_strength * (100.0f - field_degauss_rate * dt) / 100.0f;
+        field_strength = field_strength * (100.0f - field_degauss_rate * dt) * 0.01f;
     } else {
         // neutral; no demanded change
     }
@@ -121,5 +121,5 @@ float Gripper_EPM::tesla() const
     // https://en.wikipedia.org/wiki/Orders_of_magnitude_(magnetic_field)
     // 200N lifting capacity ~= 2.5T
     const float percentage_to_tesla = 0.25f;
-    return static_cast<float>(percentage_to_tesla * field_strength / 100.0f);
+    return static_cast<float>(percentage_to_tesla * field_strength * 0.01f);
 }

libraries/SITL/SIM_Gripper_Servo.cpp

@@ -89,7 +89,7 @@ void Gripper_Servo::update(const struct sitl_input &input)
         position_demand = position;
     }
 
-    const float position_max_change = position_slew_rate / 100.0f * dt;
+    const float position_max_change = position_slew_rate * 0.01f * dt;
     position = constrain_float(position_demand, position - position_max_change, position + position_max_change);
     float jaw_gap;
     if ((release_pwm < grab_pwm && reverse) || (release_pwm > grab_pwm && !reverse)) {

libraries/SITL/SIM_RF_LightWareSerial.cpp

@@ -55,5 +55,5 @@ uint32_t RF_LightWareSerial::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, ui
         alt_cm = 13000;  // from datasheet
     }
 
-    return snprintf((char*)buffer, buflen, "%0.2f\r", alt_cm / 100.0f); // note tragic lack of snprintf return checking
+    return snprintf((char*)buffer, buflen, "%0.2f\r", alt_cm * 0.01f); // note tragic lack of snprintf return checking
 }

libraries/SITL/SIM_RF_NMEA.cpp

@@ -30,7 +30,7 @@ uint32_t RF_NMEA::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t bufle
 // Format 2 DBT NMEA mode (e.g. $SMDBT,5.94,f,1.81,M,67)
 // Format 3 DPT NMEA mode (e.g. $SMDPT,1.81,0.066)
 
-    ssize_t ret = snprintf((char*)buffer, buflen, "$SMDPT,%f,%f", alt_cm/100.0f, 0.01f);
+    ssize_t ret = snprintf((char*)buffer, buflen, "$SMDPT,%f,%f", alt_cm*0.01f, 0.01f);
     uint8_t checksum = 0;
     for (uint8_t i=1; i<ret; i++) { // 1 because the initial $ is skipped
         checksum ^= buffer[i];

libraries/SITL/SIM_RF_Wasp.cpp

@@ -113,5 +113,5 @@ void RF_Wasp::update(float range)
 
 uint32_t RF_Wasp::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
 {
-    return snprintf((char*)buffer, buflen, "%f\n", alt_cm/100.0f);
+    return snprintf((char*)buffer, buflen, "%f\n", alt_cm*0.01f);
 }

libraries/SITL/SIM_Sprayer.cpp

@@ -76,7 +76,7 @@ void Sprayer::update(const struct sitl_input &input)
         if (pump_demand < 0) { // never updated
             pump_demand = 0;
         }
-        const float pump_max_change = pump_slew_rate / 100.0f * dt;
+        const float pump_max_change = pump_slew_rate * 0.01f * dt;
         last_pump_output =
             constrain_float(pump_demand, last_pump_output - pump_max_change, last_pump_output + pump_max_change);
         last_pump_output = constrain_float(last_pump_output, 0, 1);

libraries/SITL/SITL.cpp

@@ -1755,7 +1755,7 @@ float SIM::measure_distance_at_angle_bf(const Location &location, float angle) c
             post_location.offset(x*10+3, y*10+2);
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
             if (postfile != nullptr) {
-                ::fprintf(postfile, "map circle %f %f %f blue\n", post_location.lat*1e-7, post_location.lng*1e-7, radius_cm/100.0);
+                ::fprintf(postfile, "map circle %f %f %f blue\n", post_location.lat*1e-7, post_location.lng*1e-7, radius_cm*0.01);
             }
 #endif
             Vector2f post_position_cm;
@@ -1769,8 +1769,8 @@ float SIM::measure_distance_at_angle_bf(const Location &location, float angle) c
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
                 if (intersectionsfile != nullptr) {
                     Location intersection_point = location;
-                    intersection_point.offset(intersection_point_cm.x/100.0,
-                                              intersection_point_cm.y/100.0);
+                    intersection_point.offset(intersection_point_cm.x*0.01,
+                                              intersection_point_cm.y*0.01);
                     ::fprintf(intersectionsfile,
                               "map icon %f %f barrell\n",
                               intersection_point.lat*1e-7,
@@ -1792,8 +1792,8 @@ float SIM::measure_distance_at_angle_bf(const Location &location, float angle) c
     }
 #endif
 
-    // ::fprintf(stderr, "Distance @%f = %fm\n", angle, min_dist_cm/100.0f);
-    return min_dist_cm / 100.0f;
+    // ::fprintf(stderr, "Distance @%f = %fm\n", angle, min_dist_cm*0.01f);
+    return min_dist_cm * 0.01f;
 }
 
 } // namespace SITL