[paparazzi-commits] [4284] Fix quaternion reference generation in case of ap_periodic prescaler

[Allen Ibara]

Revision: 4284
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4284
Author:   aibara
Date:     2009-10-19 21:02:44 +0000 (Mon, 19 Oct 2009)
Log Message:
-----------
Fix quaternion reference generation in case of ap_periodic prescaler

Modified Paths:
--------------
    
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
        2009-10-19 20:43:58 UTC (rev 4283)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
        2009-10-19 21:02:44 UTC (rev 4284)
@@ -47,7 +47,7 @@
  * Reference
  */
 #ifdef BOOZ_AP_PERIODIC_PRESCALE
-#define DT_UPDATE ((1./PERIODIC_FREQ)/BOOZ_AP_PERIODIC_PRESCALE)
+#define DT_UPDATE ((float) BOOZ_AP_PERIODIC_PRESCALE / (float) PERIODIC_FREQ)
 #else
 #define DT_UPDATE (1./512.)
 #endif