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[fixedwing] minor cleanup for ahrs_sim

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Felix Ruess
2014-09-09 16:29:29 +02:00
parent 1cec1e9db9
commit 20ee0bb0d4
1 changed files with 2 additions and 9 deletions
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sw/airborne/firmwares/fixedwing/main_ap.c
+2 -9
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@@ -585,15 +585,8 @@ void sensors_task( void ) {
//FIXME: this is just a kludge //FIXME: this is just a kludge
#if USE_AHRS && defined SITL && !USE_NPS #if USE_AHRS && defined SITL && !USE_NPS
// timestamp when last callback was received // dt is not really used in ahrs_sim
static float last_ts = 0.f; ahrs_propagate(1./PERIODIC_FREQUENCY);
// current timestamp
float now_ts = get_sys_time_float();
// dt between this and last callback
float dt = now_ts - last_ts;
last_ts = now_ts;
ahrs_propagate(dt);
#endif #endif
#if USE_BARO_BOARD #if USE_BARO_BOARD