AP_Motors: Change from division to multiplication

libraries/AP_Motors/AP_MotorsCoax.cpp

@@ -153,7 +153,7 @@ void AP_MotorsCoax::output_armed_stabilizing()
     if (is_zero(rp_thrust_max)) {
         rp_scale = 1.0f;
     } else {
-        rp_scale = constrain_float((1.0f - MIN(fabsf(yaw_thrust), 0.5f * (float)_yaw_headroom / 1000.0f)) / rp_thrust_max, 0.0f, 1.0f);
+        rp_scale = constrain_float((1.0f - MIN(fabsf(yaw_thrust), 0.5f * (float)_yaw_headroom * 0.001f)) / rp_thrust_max, 0.0f, 1.0f);
         if (rp_scale < 1.0f) {
             limit.roll = true;
             limit.pitch = true;

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -295,7 +295,7 @@ void AP_MotorsMatrix::output_armed_stabilizing()
 
     // calculate the maximum yaw control that can be used
     // todo: make _yaw_headroom 0 to 1
-    float yaw_allowed_min = (float)_yaw_headroom / 1000.0f;
+    float yaw_allowed_min = (float)_yaw_headroom * 0.001f;
 
     // increase yaw headroom to 50% if thrust boost enabled
     yaw_allowed_min = _thrust_boost_ratio * 0.5f + (1.0f - _thrust_boost_ratio) * yaw_allowed_min;

libraries/AP_Motors/AP_MotorsSingle.cpp

@@ -162,7 +162,7 @@ void AP_MotorsSingle::output_armed_stabilizing()
     if (is_zero(rp_thrust_max)) {
         rp_scale = 1.0f;
     } else {
-        rp_scale = constrain_float((1.0f - MIN(fabsf(yaw_thrust), (float) _yaw_headroom / 1000.0f)) / rp_thrust_max, 0.0f, 1.0f);
+        rp_scale = constrain_float((1.0f - MIN(fabsf(yaw_thrust), (float) _yaw_headroom * 0.001f)) / rp_thrust_max, 0.0f, 1.0f);
         if (rp_scale < 1.0f) {
             limit.roll = true;
             limit.pitch = true;