From 1ecca36dd0af6a6c77f03643784a8a4e0fc8cc1f Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Fri, 16 Mar 2012 13:32:18 -0700
Subject: [PATCH] Fixed Scaling bug in Sonar mixing

---
 ArduCopter/ArduCopter.pde | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index b8d73ca4f2..d85e280076 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1955,9 +1955,8 @@ static void update_altitude()
 				sonar_alt = (float)sonar_alt * temp;
 			#endif
 
-			scale = (sonar_alt - 400) / 200;
-			scale = constrain(scale, 0, 1);
-
+			scale = (float)(sonar_alt - 400) / 200.0;
+			scale = constrain(scale, 0.0, 1.0);
 			// solve for a blended altitude
 			current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale) + home.alt;