Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

HAL_Linux: fixed float calc of time for onboard flow

This commit is contained in:
Andrew Tridgell 2024-02-05 14:38:40 +11:00 committed by Randy Mackay
parent 350be1b24f
commit 2c378f4ba0
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
View File

@ -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.y += (gyro_y - _gyro_bias.y) * dt;
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);
}