AP_Avoidance: Change division to multiplication

ArduPilot · Oct 4, 2023 · f19439e · f19439e
1 parent 6958316
commit f19439e
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/libraries/AP_Avoidance/AP_Avoidance.cpp b/libraries/AP_Avoidance/AP_Avoidance.cpp
@@ -325,11 +325,11 @@ float closest_approach_z(const Location &my_loc,
     }
 
     debug("   time_horizon: (%d)", time_horizon);
-    debug("   delta pos: (%f) metres", delta_pos_d/100.0f);
+    debug("   delta pos: (%f) metres", delta_pos_d*0.01f);
     debug("   delta vel: (%f) m/s", delta_vel_d);
-    debug("   closest: (%f) metres", ret/100.0f);
+    debug("   closest: (%f) metres", ret*0.01f);
 
-    return ret/100.0f;
+    return ret*0.01f;
 }
 
 void AP_Avoidance::update_threat_level(const Location &my_loc,
@@ -657,7 +657,7 @@ bool AP_Avoidance::get_vector_perpendicular(const AP_Avoidance::Obstacle *obstac
 Vector3f AP_Avoidance::perpendicular_xyz(const Location &p1, const Vector3f &v1, const Location &p2)
 {
     const Vector2f delta_p_2d = p1.get_distance_NE(p2);
-    Vector3f delta_p_xyz = Vector3f(delta_p_2d[0],delta_p_2d[1],(p2.alt-p1.alt)/100.0f); //check this line
+    Vector3f delta_p_xyz = Vector3f(delta_p_2d[0],delta_p_2d[1],(p2.alt-p1.alt)*0.01f); //check this line
     Vector3f v1_xyz = Vector3f(v1[0], v1[1], -v1[2]);
     Vector3f ret = Vector3f::perpendicular(delta_p_xyz, v1_xyz);
     return ret;