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HAL_Linux: fixed float calc of time for onboard flow

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Andrew Tridgell 2024-02-05 14:38:40 +11:00 committed by Peter Barker
parent 992eba3a36
commit 0638eae1d9
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
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@ -220,7 +220,7 @@ void OpticalFlow_Onboard::push_gyro(float gyro_x, float gyro_y, float dt)
_integrated_gyro.x += (gyro_x - _gyro_bias.x) * dt; _integrated_gyro.x += (gyro_x - _gyro_bias.x) * dt;
_integrated_gyro.y += (gyro_y - _gyro_bias.y) * dt; _integrated_gyro.y += (gyro_y - _gyro_bias.y) * dt;
sample.gyro = _integrated_gyro; sample.gyro = _integrated_gyro;
sample.time_us = 1.0e6 * (ts.tv_sec + (ts.tv_nsec*1.0e-9)); sample.time_us = ts.tv_sec*1000000ULL + ts.tv_nsec/1000ULL;
_gyro_ring_buffer->push(sample); _gyro_ring_buffer->push(sample);
} }