Sub: Change division to multiplication

ArduPilot · Jan 2, 2025 · dcafda8 · dcafda8
1 parent 20dce34
commit dcafda8
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/ArduSub/GCS_MAVLink_Sub.cpp b/ArduSub/GCS_MAVLink_Sub.cpp
@@ -153,7 +153,7 @@ bool GCS_MAVLINK_Sub::send_info()
     send_named_float("RollPitch", sub.roll_pitch_flag);
 
     CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
-    send_named_float("RFTarget", sub.mode_surftrak.get_rangefinder_target_cm() / 100.0f);
+    send_named_float("RFTarget", sub.mode_surftrak.get_rangefinder_target_cm() * 0.01f);
 
     return true;
 }

diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
@@ -44,7 +44,7 @@ void Sub::Log_Write_Control_Tuning()
         angle_boost         : attitude_control.angle_boost(),
         throttle_out        : motors.get_throttle(),
         throttle_hover      : motors.get_throttle_hover(),
-        desired_alt         : pos_control.get_pos_target_z_cm() / 100.0f,
+        desired_alt         : pos_control.get_pos_target_z_cm() * 0.01f,
         inav_alt            : inertial_nav.get_position_z_up_cm() * 0.01f,
         baro_alt            : barometer.get_altitude(),
         desired_rangefinder_alt   : (int16_t)mode_surftrak.get_rangefinder_target_cm(),

diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp
@@ -127,7 +127,7 @@ bool Sub::handle_do_motor_test(mavlink_command_int_t command) {
 
     if (is_equal(throttle_type, (float)MOTOR_TEST_THROTTLE_PERCENT)) {
         throttle = constrain_float(throttle, 0.0f, 100.0f);
-        throttle = channel_throttle->get_radio_min() + throttle / 100.0f * (channel_throttle->get_radio_max() - channel_throttle->get_radio_min());
+        throttle = channel_throttle->get_radio_min() + throttle * 0.01f * (channel_throttle->get_radio_max() - channel_throttle->get_radio_min());
         return motors.output_test_num(motor_number, throttle); // true if motor output is set
     }
 

diff --git a/ArduSub/surface_bottom_detector.cpp b/ArduSub/surface_bottom_detector.cpp
@@ -29,9 +29,9 @@ void Sub::update_surface_and_bottom_detector()
 
 
         if (ap.at_surface) {
-            set_surfaced(current_depth > g.surface_depth/100.0 - 0.05); // add a 5cm buffer so it doesn't trigger too often
+            set_surfaced(current_depth > g.surface_depth*0.01 - 0.05); // add a 5cm buffer so it doesn't trigger too often
         } else {
-            set_surfaced(current_depth > g.surface_depth/100.0); // If we are above surface depth, we are surfaced
+            set_surfaced(current_depth > g.surface_depth*0.01); // If we are above surface depth, we are surfaced
         }