From b2e7c8d8fcef3aa9c57331b17dacdb4720500df0 Mon Sep 17 00:00:00 2001
From: treymarc <trey.marc@gmail.com>
Date: Sat, 4 Jan 2014 22:19:51 +0100
Subject: [PATCH] THROTTLE ANGLE CORRECTION , "*" "/" operator priority bug
 http://www.multiwii.com/forum/viewtopic.php?f=8&t=4433

---
 src/imu.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/imu.c b/src/imu.c
index e14fb3280..deddd360a 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -315,7 +315,7 @@ static void getEstimatedAttitude(void)
     acc_calc(deltaT); // rotate acc vector into earth frame
 
     if (cfg.throttle_angle_correction) {
-        int cosZ = EstG.V.Z / (acc_1G * 100.0f);
+        int cosZ = ((int32_t)(EstG.V.Z * 100.0f)) / acc_1G;
         throttleAngleCorrection = cfg.throttle_angle_correction * constrain(100 - cosZ, 0, 100) / 8;
     }
 }