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Plane: update for new INS API

This commit is contained in:
Andrew Tridgell 2013-09-27 10:41:24 +10:00
parent 394645560a
commit 650ff258db
1 changed files with 2 additions and 3 deletions
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ArduPlane/ArduPlane.pde
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@ -761,9 +761,8 @@ void setup() {
void loop() void loop()
{ {
uint32_t timer = millis(); uint32_t timer = millis();
// We want this to execute at 50Hz, but synchronised with the gyro/accel // We want this to execute at 50Hz, synchronised with the gyro/accel
uint16_t num_samples = ins.num_samples_available(); if (ins.sample_available()) {
if (num_samples >= 1) {
delta_ms_fast_loop = timer - fast_loopTimer_ms; delta_ms_fast_loop = timer - fast_loopTimer_ms;
G_Dt = delta_ms_fast_loop * 0.001f; G_Dt = delta_ms_fast_loop * 0.001f;
fast_loopTimer_ms = timer; fast_loopTimer_ms = timer;