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AP_PiccoloCAN: Remove unncessary floating point operations

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Oliver 2021-06-07 09:01:18 +10:00 committed by Andrew Tridgell
parent 06eb844ede
commit dade859ff9
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
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@ -177,12 +177,12 @@ void AP_PiccoloCAN::loop()
// Calculate the output rate for ESC commands
_esc_hz = constrain_int16(_esc_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX);
uint16_t escCmdRateMs = (uint16_t) ((float) 1000 / _esc_hz);
uint16_t escCmdRateMs = 1000 / _esc_hz;
// Calculate the output rate for servo commands
_srv_hz = constrain_int16(_srv_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX);
uint16_t servoCmdRateMs = (uint16_t) ((float) 1000 / _srv_hz);
uint16_t servoCmdRateMs = 1000 / _srv_hz;
uint64_t timeout = AP_HAL::micros64() + 250ULL;