From 65f84442e02bb02c68c996eb6d9d049a2910beac Mon Sep 17 00:00:00 2001
From: Praveen Kumar <pravinblaze@hotmail.com>
Date: Fri, 15 Nov 2019 14:14:11 +0530
Subject: [PATCH] Fixed incorrect speed unit conversion

---
 LibCarla/source/carla/trafficmanager/MotionPlannerStage.cpp | 2 +-
 LibCarla/source/carla/trafficmanager/Parameters.cpp         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/LibCarla/source/carla/trafficmanager/MotionPlannerStage.cpp b/LibCarla/source/carla/trafficmanager/MotionPlannerStage.cpp
index baf42d401..1d67780af 100644
--- a/LibCarla/source/carla/trafficmanager/MotionPlannerStage.cpp
+++ b/LibCarla/source/carla/trafficmanager/MotionPlannerStage.cpp
@@ -76,7 +76,7 @@ namespace PlannerConstants {
       // Increase speed if on highway.
       float speed_limit = vehicle->GetSpeedLimit() / 3.6f;
 
-      float dynamic_target_velocity = parameters.GetVehicleTargetVelocity(actor);
+      float dynamic_target_velocity = parameters.GetVehicleTargetVelocity(actor) / 3.6f;
 
       if (speed_limit > HIGHWAY_SPEED) {
         longitudinal_parameters = highway_longitudinal_parameters;
diff --git a/LibCarla/source/carla/trafficmanager/Parameters.cpp b/LibCarla/source/carla/trafficmanager/Parameters.cpp
index 98350ae64..d93b83994 100644
--- a/LibCarla/source/carla/trafficmanager/Parameters.cpp
+++ b/LibCarla/source/carla/trafficmanager/Parameters.cpp
@@ -78,7 +78,7 @@ namespace traffic_manager {
             percentage_decrease = percentage_decrease_from_speed_limit.GetValue(actor_id);
         }
 
-        return speed_limit * (1 - percentage_decrease/100);
+        return speed_limit * (1.0f - percentage_decrease/100.0f);
     }
 
     bool Parameters::GetCollisionDetection(const ActorPtr &reference_actor, const ActorPtr &other_actor) {