AP_VisualOdom: Change from division to multiplication

3 years ago · 8f91fe9c2e
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
@ -56,7 +56,7 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
				@@ -56,7 +56,7 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
    _last_update_ms = now_ms;

    // send to EKF
-    const float time_delta_sec = packet.time_delta_usec / 1000000.0f;
+    const float time_delta_sec = packet.time_delta_usec * 1.0E-6;
    AP::ahrs().writeBodyFrameOdom(packet.confidence,
                                  position_delta,
                                  angle_delta,