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fix delta time in imu shim

This commit is contained in:
Michael Oborne 2011-10-13 22:36:51 +08:00
parent 392160314e
commit b02c3608ef
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_IMU/AP_IMU_Shim.h
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@ -19,6 +19,13 @@ public:
virtual bool update(void) { virtual bool update(void) {
bool updated = _updated; bool updated = _updated;
_updated = false; _updated = false;
// return number of microseconds since last call
uint32_t us = micros();
uint32_t ret = us - last_ch6_micros;
last_ch6_micros = us;
_sample_time = ret;
return updated; return updated;
} }
//@} //@}
@ -54,6 +61,7 @@ public:
private: private:
/// set true when new data is delivered /// set true when new data is delivered
bool _updated; bool _updated;
uint32_t last_ch6_micros;
}; };
#endif #endif