Update tfmini.c (paparazzi#2460)

Tested with TFMini, now works correctly. Gain between 0..1 thus multiply not divide
Ro9ueAdmin · Oct 8, 2019 · 58deebc · 58deebc
1 parent 6380531
commit 58deebc
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/sw/airborne/modules/lidar/tfmini.c b/sw/airborne/modules/lidar/tfmini.c
@@ -157,7 +157,7 @@ static void tfmini_parse(uint8_t byte)
             float phi = stateGetNedToBodyEulers_f()->phi;
             float theta = stateGetNedToBodyEulers_f()->theta;
             float gain = (float)fabs((double)(cosf(phi) * cosf(theta)));
-            tfmini.distance = tfmini.distance / gain;
+            tfmini.distance = tfmini.distance * gain;
           }
 
           // send message (if requested)