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AC_PosControl: constify dt calcs

This commit is contained in:
Randy Mackay 2019-01-30 14:51:17 +09:00
parent 0929d0333b
commit df4dcf3c8f
1 changed files with 4 additions and 4 deletions
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8
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -472,7 +472,7 @@ bool AC_PosControl::is_active_z() const
void AC_PosControl::update_z_controller() void AC_PosControl::update_z_controller()
{ {
// check time since last cast // check time since last cast
uint64_t now_us = AP_HAL::micros64(); const uint64_t now_us = AP_HAL::micros64();
if (now_us - _last_update_z_us > POSCONTROL_ACTIVE_TIMEOUT_US) { if (now_us - _last_update_z_us > POSCONTROL_ACTIVE_TIMEOUT_US) {
_flags.reset_rate_to_accel_z = true; _flags.reset_rate_to_accel_z = true;
_flags.reset_accel_to_throttle = true; _flags.reset_accel_to_throttle = true;
@ -802,7 +802,7 @@ void AC_PosControl::init_xy_controller()
void AC_PosControl::update_xy_controller(float ekfNavVelGainScaler) void AC_PosControl::update_xy_controller(float ekfNavVelGainScaler)
{ {
// compute dt // compute dt
uint64_t now_us = AP_HAL::micros64(); const uint64_t now_us = AP_HAL::micros64();
float dt = (now_us - _last_update_xy_us) * 1.0e-6f; float dt = (now_us - _last_update_xy_us) * 1.0e-6f;
// sanity check dt // sanity check dt
@ -828,7 +828,7 @@ void AC_PosControl::update_xy_controller(float ekfNavVelGainScaler)
float AC_PosControl::time_since_last_xy_update() const float AC_PosControl::time_since_last_xy_update() const
{ {
uint64_t now_us = AP_HAL::micros64(); const uint64_t now_us = AP_HAL::micros64();
return (now_us - _last_update_xy_us) * 1.0e-6f; return (now_us - _last_update_xy_us) * 1.0e-6f;
} }
@ -899,7 +899,7 @@ void AC_PosControl::init_vel_controller_xyz()
void AC_PosControl::update_vel_controller_xy(float ekfNavVelGainScaler) void AC_PosControl::update_vel_controller_xy(float ekfNavVelGainScaler)
{ {
// capture time since last iteration // capture time since last iteration
uint64_t now_us = AP_HAL::micros64(); const uint64_t now_us = AP_HAL::micros64();
float dt = (now_us - _last_update_xy_us) * 1.0e-6f; float dt = (now_us - _last_update_xy_us) * 1.0e-6f;
// sanity check dt // sanity check dt