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MPC controller: Do not initialize to zero dt but a likely default dt

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Lorenz Meier
2017-01-28 15:14:23 +01:00
parent 299c40f627
commit ec2467d4a5
1 changed files with 1 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -2225,7 +2225,7 @@ MulticopterPositionControl::task_main()
parameters_update(false); parameters_update(false);
hrt_abstime t = hrt_absolute_time(); hrt_abstime t = hrt_absolute_time();
float dt = t_prev != 0 ? (t - t_prev) / 1e6f : 0.0f; float dt = t_prev != 0 ? (t - t_prev) / 1e6f : 0.004f;
t_prev = t; t_prev = t;
// set dt for control blocks // set dt for control blocks