vtol_att_control: switch from division to multiplication for variable

calculation

Signed-off-by: Roman <bapstroman@gmail.com>

src/modules/vtol_att_control/standard.cpp

@@ -119,7 +119,7 @@ void Standard::update_vtol_state()
 	 */
 
 	float mc_weight = _mc_roll_weight;
-	float time_since_trans_start = ((float)(hrt_absolute_time() - _vtol_schedule.transition_start)) / 1e6f;
+	float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
 
 	if (!_attc->is_fixed_wing_requested()) {
 
@@ -232,7 +232,7 @@ void Standard::update_vtol_state()
 void Standard::update_transition_state()
 {
 	float mc_weight = 1.0f;
-	float time_since_trans_start = ((float)(hrt_absolute_time() - _vtol_schedule.transition_start)) / 1e6f;
+	float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
 
 	VtolType::update_transition_state();
 

src/modules/vtol_att_control/tailsitter.cpp

@@ -175,7 +175,7 @@ void Tailsitter::update_vtol_state()
 
 void Tailsitter::update_transition_state()
 {
-	float time_since_trans_start = ((float)(hrt_absolute_time() - _vtol_schedule.transition_start)) / 1e6f;
+	float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
 
 	if (!_flag_was_in_trans_mode) {
 		// save desired heading for transition and last thrust value

src/modules/vtol_att_control/tiltrotor.cpp

@@ -179,7 +179,7 @@ void Tiltrotor::update_vtol_state()
 				// allow switch if we are not armed for the sake of bench testing
 				bool transition_to_p2 = can_transition_on_ground();
 
-				float time_since_trans_start = ((float)(hrt_absolute_time() - _vtol_schedule.transition_start)) / 1e6f;
+				float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
 
 				// check if we have reached airspeed to switch to fw mode
 				transition_to_p2 |= !_params->airspeed_disabled &&
@@ -279,7 +279,7 @@ void Tiltrotor::update_transition_state()
 {
 	VtolType::update_transition_state();
 
-	float time_since_trans_start = ((float)(hrt_absolute_time() - _vtol_schedule.transition_start)) / 1e6f;
+	float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
 
 	if (!_flag_was_in_trans_mode) {
 		// save desired heading for transition and last thrust value