AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division

libraries/AC_AttitudeControl/AC_PosControl.cpp

@@ -494,7 +494,7 @@ void AC_PosControl::accel_to_throttle(float accel_target_z)
     // get d term
     d = _pid_accel_z.get_d();
 
-    float thr_out = (p+i+d)/1000.0f +_motors.get_throttle_hover();
+    float thr_out = (p+i+d)*0.001f +_motors.get_throttle_hover();
 
     // send throttle to attitude controller with angle boost
     _attitude_control.set_throttle_out(thr_out, true, POSCONTROL_THROTTLE_CUTOFF_FREQ);
@@ -660,7 +660,7 @@ void AC_PosControl::update_xy_controller(xy_mode mode, float ekfNavVelGainScaler
 {
     // compute dt
     uint32_t now = AP_HAL::millis();
-    float dt = (now - _last_update_xy_ms) / 1000.0f;
+    float dt = (now - _last_update_xy_ms)*0.001f;
     _last_update_xy_ms = now;
 
     // sanity check dt - expect to be called faster than ~5hz