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AP_Scheduler: make loop times cover INS wait_for_sample

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this matches past behaviour, and gives much more useful information to
a user wanting to know if their board it meeting its desired loop rate
This commit is contained in:
Andrew Tridgell 2018-02-10 12:48:18 +11:00
parent 434c3fffc7
commit 24d6493453
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -209,11 +209,11 @@ float AP_Scheduler::load_average()
void AP_Scheduler::loop()
{
const uint32_t timer = AP_HAL::micros();
// wait for an INS sample
AP::ins().wait_for_sample();
const uint32_t timer = AP_HAL::micros();
// used by PI Loops
last_loop_time = (float)(timer - loop_start) / 1000000.0f;
loop_start = timer;