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Plane: check G_Dt to catch startup errors

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this catches cases where constructors lead to G_Dt being incorrect
This commit is contained in:
Andrew Tridgell 2022-07-20 16:00:58 +10:00
parent 3e89e32d8a
commit 25e317d6b1
1 changed files with 7 additions and 0 deletions
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7
ArduPlane/ArduPlane.cpp
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@ -334,6 +334,13 @@ void Plane::one_second_loop()
// reset the landing altitude correction
landing.alt_offset = 0;
}
// this ensures G_Dt is correct, catching startup issues with constructors
// calling the scheduler methods
if (!is_equal(1.0f/scheduler.get_loop_rate_hz(), scheduler.get_loop_period_s()) ||
!is_equal(G_Dt, scheduler.get_loop_period_s())) {
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
}
void Plane::three_hz_loop()