From 17daa2f31cfdd43bbb948bb48147fe5167f321e3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 7 Mar 2012 15:14:59 +1100
Subject: [PATCH] Compass: change last_update to be in microseconds

---
 libraries/AP_Compass/AP_Compass_HIL.cpp     | 2 +-
 libraries/AP_Compass/AP_Compass_HMC5843.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass_HIL.cpp b/libraries/AP_Compass/AP_Compass_HIL.cpp
index f57d7f5320..1e3187a343 100644
--- a/libraries/AP_Compass/AP_Compass_HIL.cpp
+++ b/libraries/AP_Compass/AP_Compass_HIL.cpp
@@ -16,7 +16,7 @@
 bool AP_Compass_HIL::read()
 {
 	// values set by setHIL function
-	last_update = millis();  // record time of update
+	last_update = micros();  // record time of update
 	return true;
 }
 
diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index dc452baad7..a34bf8c424 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@@ -279,7 +279,7 @@ bool AP_Compass_HMC5843::read()
    mag_y *= calibration[1];
    mag_z *= calibration[2];
 
-   last_update = millis();  // record time of update
+   last_update = micros();  // record time of update
    // rotate and offset the magnetometer values
    // XXX this could well be done in common code...