From b85ecb9526f74bf3476af74ed1d4e06f48f58b65 Mon Sep 17 00:00:00 2001 From: muramura Date: Sat, 20 Apr 2024 19:21:04 +0900 Subject: [PATCH] AP_RangeFinder: Change division to multiplication --- libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp | 2 +- libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp index e7776e0f95..0c889403a0 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp @@ -68,7 +68,7 @@ bool AP_RangeFinder_BLPing::get_reading(float &reading_m) } if (protocol.parse_byte(b) == PingProtocol::MessageId::DISTANCE_SIMPLE) { averageStruct.count++; - averageStruct.sum_cm += protocol.get_distance_mm()/10.0f; + averageStruct.sum_cm += protocol.get_distance_mm()*0.1f; } } diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.cpp index 3d90877d83..6a2f1bf169 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.cpp @@ -78,7 +78,7 @@ bool AP_RangeFinder_LeddarVu8::get_reading(float &reading_m) } else { // if only out of range readings return larger of // driver defined maximum range for the model and user defined max range + 1m - reading_m = MAX(LEDDARVU8_DIST_MAX_CM, max_distance_cm() + LEDDARVU8_OUT_OF_RANGE_ADD_CM)/100.0f; + reading_m = MAX(LEDDARVU8_DIST_MAX_CM, max_distance_cm() + LEDDARVU8_OUT_OF_RANGE_ADD_CM)*0.01f; } return true; }