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AC_PosControl: bug fix dt calculation

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fixes issue in which now could be earlier than _last_update_xy_ms
leading to a large dt value and a sudden lean on takeoff
This commit is contained in:
Randy Mackay 2014-10-21 11:32:20 +09:00
parent 34352860e7
commit a1cfd03c9b
1 changed files with 1 additions and 0 deletions
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libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -548,6 +548,7 @@ void AC_PosControl::update_xy_controller(bool use_desired_velocity)
uint32_t now = hal.scheduler->millis(); uint32_t now = hal.scheduler->millis();
if ((now - _last_update_xy_ms) >= POSCONTROL_ACTIVE_TIMEOUT_MS) { if ((now - _last_update_xy_ms) >= POSCONTROL_ACTIVE_TIMEOUT_MS) {
init_xy_controller(); init_xy_controller();
now = _last_update_xy_ms;
} }
// check if xy leash needs to be recalculated // check if xy leash needs to be recalculated