From dedd257433ea97ab9890967f78bf6aeea82fa40d Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 26 Sep 2019 03:45:55 -0400 Subject: [PATCH] CollisionPrevention: fix integer rounding (#13028) --- src/lib/CollisionPrevention/CollisionPrevention.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/lib/CollisionPrevention/CollisionPrevention.cpp b/src/lib/CollisionPrevention/CollisionPrevention.cpp index b50054dc8d..2ce47ce8a0 100644 --- a/src/lib/CollisionPrevention/CollisionPrevention.cpp +++ b/src/lib/CollisionPrevention/CollisionPrevention.cpp @@ -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)); }