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CollisionPrevention: fix integer rounding (#13028)

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Daniel Agar 2019-09-26 03:45:55 -04:00 committed by Julian Oes
parent 3031f94ded
commit dedd257433
1 changed files with 4 additions and 4 deletions
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src/lib/CollisionPrevention/CollisionPrevention.cpp
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@ -204,10 +204,10 @@ void CollisionPrevention::_updateObstacleMap()
//update message description
_obstacle_map_body_frame.timestamp = math::max(_obstacle_map_body_frame.timestamp, distance_sensor.timestamp);
_obstacle_map_body_frame.max_distance = math::max((int)_obstacle_map_body_frame.max_distance,
(int)distance_sensor.max_distance * 100);
_obstacle_map_body_frame.min_distance = math::min((int)_obstacle_map_body_frame.min_distance,
(int)distance_sensor.min_distance * 100);
_obstacle_map_body_frame.max_distance = math::max(_obstacle_map_body_frame.max_distance,
(uint16_t)(distance_sensor.max_distance * 100.0f));
_obstacle_map_body_frame.min_distance = math::min(_obstacle_map_body_frame.min_distance,
(uint16_t)(distance_sensor.min_distance * 100.0f));
_addDistanceSensorData(distance_sensor, Quatf(_sub_vehicle_attitude.get().q));
}