diff --git a/Sources/SwiftRPLidar/SwiftRPLidar.swift b/Sources/SwiftRPLidar/SwiftRPLidar.swift
index 0e8c5da..3141a1b 100644
--- a/Sources/SwiftRPLidar/SwiftRPLidar.swift
+++ b/Sources/SwiftRPLidar/SwiftRPLidar.swift
@@ -45,14 +45,14 @@ func processScan(raw: Data) throws -> LidarScan {
     if ((raw[1] & 0b1) != 1) {
 
     }
-    let angle = (raw[1] >> 1) + (raw[2] << 7) / 64
-    let distance = raw[3] + (raw[4] << 8) / 4
-    return LidarScan(newScan: newScan, quality: quality, angle: angle, distance: distance)
+    let angle = Float(raw[1] >> 1) + Float(raw[2] << 7) / 64
+    let distance = Float(raw[3]) + Float(raw[4] << 8) / 4
+    return LidarScan(newScan: newScan == 1, quality: quality, angle: angle, distance: distance)
 }
 
 struct LidarScan{
     var newScan: Bool
-    var quality: Float
+    var quality: UInt8
     var angle: Float
     var distance: Float
 }