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ArduCopter: remove separate calls to get delta-times for vel and ang

This commit is contained in:
Peter Barker 2021-02-12 08:34:38 +11:00 committed by Peter Barker
parent 4605870788
commit 211a7f85b5
2 changed files with 6 additions and 7 deletions
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3
ArduCopter/mode_flowhold.cpp
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@ -369,7 +369,8 @@ void ModeFlowHold::update_height_estimate(void)
// get delta velocity in body frame
Vector3f delta_vel;
if (!copter.ins.get_delta_velocity(delta_vel)) {
float delta_vel_dt;
if (!copter.ins.get_delta_velocity(delta_vel, delta_vel_dt)) {
return;
}

10
ArduCopter/mode_systemid.cpp
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@ -275,15 +275,13 @@ void ModeSystemId::run()
// log system id and attitude
void ModeSystemId::log_data() const
{
uint8_t index = copter.ahrs.get_primary_gyro_index();
Vector3f delta_angle;
copter.ins.get_delta_angle(index, delta_angle);
float delta_angle_dt = copter.ins.get_delta_angle_dt(index);
float delta_angle_dt;
copter.ins.get_delta_angle(delta_angle, delta_angle_dt);
index = copter.ahrs.get_primary_accel_index();
Vector3f delta_velocity;
copter.ins.get_delta_velocity(index, delta_velocity);
float delta_velocity_dt = copter.ins.get_delta_velocity_dt(index);
float delta_velocity_dt;
copter.ins.get_delta_velocity(delta_velocity, delta_velocity_dt);
if (is_positive(delta_angle_dt) && is_positive(delta_velocity_dt)) {
copter.Log_Write_SysID_Data(waveform_time, waveform_sample, waveform_freq_rads / (2 * M_PI), degrees(delta_angle.x / delta_angle_dt), degrees(delta_angle.y / delta_angle_dt), degrees(delta_angle.z / delta_angle_dt), delta_velocity.x / delta_velocity_dt, delta_velocity.y / delta_velocity_dt, delta_velocity.z / delta_velocity_dt);