Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-28 19:32:36 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

mc_att_control: use attitude timestamp for dt

Browse Source
This commit is contained in:
Daniel Agar
2020-08-07 21:37:09 -04:00
parent 9992bd05db
commit 45ee16d236
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_main.cpp
+2 -2
View File
@@ -287,10 +287,10 @@ MulticopterAttitudeControl::Run()
_attitude_control.adaptAttitudeSetpoint(delta_q_reset); _attitude_control.adaptAttitudeSetpoint(delta_q_reset);
} }
const hrt_abstime now = hrt_absolute_time(); const hrt_abstime now = _v_att.timestamp;
// Guard against too small (< 0.2ms) and too large (> 20ms) dt's. // Guard against too small (< 0.2ms) and too large (> 20ms) dt's.
const float dt = math::constrain(((now - _last_run) / 1e6f), 0.0002f, 0.02f); const float dt = math::constrain(((now - _last_run) * 1e-6f), 0.0002f, 0.02f);
_last_run = now; _last_run = now;
/* check for updates in other topics */ /* check for updates in other topics */