From 99b9eaea68a4e98096ac54a1d2f86a7fcb59a7b4 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 1 Aug 2018 22:17:01 -0400 Subject: [PATCH] mavlink timesync avoid unintended integer divide - fixes Coverity CID 306260 --- src/modules/mavlink/mavlink_timesync.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_timesync.cpp b/src/modules/mavlink/mavlink_timesync.cpp index 53ec811587..41c23a3068 100644 --- a/src/modules/mavlink/mavlink_timesync.cpp +++ b/src/modules/mavlink/mavlink_timesync.cpp @@ -107,7 +107,7 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg) // Filter gain scheduling if (!sync_converged()) { // Interpolate with a sigmoid function - double progress = _sequence / CONVERGENCE_WINDOW; + double progress = (double)_sequence / (double)CONVERGENCE_WINDOW; double p = 1.0 - exp(0.5 * (1.0 - 1.0 / (1.0 - progress))); _filter_alpha = p * ALPHA_GAIN_FINAL + (1.0 - p) * ALPHA_GAIN_INITIAL; _filter_beta = p * BETA_GAIN_FINAL + (1.0 - p) * BETA_GAIN_INITIAL;