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SITL: AirSim: Store last timestamp only 

Also change the datatype of deltat
This commit is contained in:
Rajat Singhal 2019-08-28 19:23:02 +05:30 committed by Andrew Tridgell
parent 86a70e5797
commit 80bbadf9ca
2 changed files with 5 additions and 4 deletions
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6
libraries/SITL/SIM_AirSim.cpp
View File

@ -262,8 +262,8 @@ void AirSim::recv_fdm()
dcm.from_euler(state.pose.roll, state.pose.pitch, state.pose.yaw);
if (last_state.timestamp) {
double deltat = state.timestamp - last_state.timestamp;
if (last_timestamp) {
int deltat = state.timestamp - last_timestamp;
time_now_us += deltat;
if (deltat > 0 && deltat < 100000) {
@ -312,7 +312,7 @@ void AirSim::recv_fdm()
velocity_ef.z);
#endif
last_state = state;
last_timestamp = state.timestamp;
}
/*

3
libraries/SITL/SIM_AirSim.h
View File

@ -66,6 +66,7 @@ private:
double average_frame_time;
uint64_t frame_counter;
uint64_t last_frame_count;
uint64_t last_timestamp;
void send_servos(const struct sitl_input &input);
void recv_fdm();
@ -107,7 +108,7 @@ private:
struct {
struct float_array rc_channels;
} rc;
} state, last_state;
} state;
// table to aid parsing of JSON sensor data
struct keytable {