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AP_AHRS: reuse ins object for multiple calls, simplify delta_t variable

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This commit is contained in:
Peter Barker 2020-10-16 18:03:11 +11:00 committed by Andrew Tridgell
parent e529d475d4
commit 9d45669a58
1 changed files with 4 additions and 6 deletions
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10
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -69,23 +69,21 @@ AP_AHRS_DCM::update(bool skip_ins_update)
{
// support locked access functions to AHRS data
WITH_SEMAPHORE(_rsem);
float delta_t;
if (_last_startup_ms == 0) {
_last_startup_ms = AP_HAL::millis();
load_watchdog_home();
}
AP_InertialSensor &_ins = AP::ins();
if (!skip_ins_update) {
// tell the IMU to grab some data
AP::ins().update();
_ins.update();
}
const AP_InertialSensor &_ins = AP::ins();
// ask the IMU how much time this sensor reading represents
delta_t = _ins.get_delta_time();
const float delta_t = _ins.get_delta_time();
// if the update call took more than 0.2 seconds then discard it,
// otherwise we may move too far. This happens when arming motors