Change division to multiplication in floating point operation
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@ -29,7 +29,7 @@ void pid_init(struct pid_controller *pid, float k_deriv, float k_int, float k_p,
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pid->k_p = k_p;
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pid->k_int = k_int;
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pid->k_deriv = k_deriv;
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pid->k_int_t = pid->k_int * pid->sample_period / 2.0f;
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pid->k_int_t = pid->k_int * pid->sample_period * 0.5f;
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pid->k_deriv_t = pid->k_deriv * 2.0f / pid->sample_period;
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pid->output_sat_max = output_sat_max;
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pid->output_sat_min = output_sat_min;
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