AP_PiccoloCAN: Remove unncessary floating point operations

4 years ago · dade859ff9
1 changed files with 2 additions and 2 deletions
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@ -177,12 +177,12 @@ void AP_PiccoloCAN::loop()
				@@ -177,12 +177,12 @@ void AP_PiccoloCAN::loop()
        // Calculate the output rate for ESC commands
        _esc_hz = constrain_int16(_esc_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX);

-        uint16_t escCmdRateMs = (uint16_t) ((float) 1000 / _esc_hz);
+        uint16_t escCmdRateMs = 1000 / _esc_hz;

        // Calculate the output rate for servo commands
        _srv_hz = constrain_int16(_srv_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX);

-        uint16_t servoCmdRateMs = (uint16_t) ((float) 1000 / _srv_hz);
+        uint16_t servoCmdRateMs = 1000 / _srv_hz;

        uint64_t timeout = AP_HAL::micros64() + 250ULL;