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AP_TECS: use 64 bit micros

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prevent possible wrap if TECS is not run for a long time
This commit is contained in:
Andrew Tridgell 2016-05-13 14:48:55 +10:00
parent e006754cda
commit e698d1f47e
2 changed files with 9 additions and 9 deletions
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12
libraries/AP_TECS/AP_TECS.cpp
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@ -274,8 +274,8 @@ void AP_TECS::update_50hz(void)
}
// Calculate time in seconds since last update
uint32_t now = AP_HAL::micros();
float DT = MAX((now - _update_50hz_last_usec), 0U) * 1.0e-6f;
uint64_t now = AP_HAL::micros64();
float DT = (now - _update_50hz_last_usec) * 1.0e-6f;
if (DT > 1.0f) {
_climb_rate = 0.0f;
_height_filter.dd_height = 0.0f;
@ -332,8 +332,8 @@ void AP_TECS::update_50hz(void)
void AP_TECS::_update_speed(float load_factor)
{
// Calculate time in seconds since last update
uint32_t now = AP_HAL::micros();
float DT = MAX((now - _update_speed_last_usec), 0U) * 1.0e-6f;
uint64_t now = AP_HAL::micros64();
float DT = (now - _update_speed_last_usec) * 1.0e-6f;
_update_speed_last_usec = now;
// Convert equivalent airspeeds to true airspeeds
@ -900,8 +900,8 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
float load_factor)
{
// Calculate time in seconds since last update
uint32_t now = AP_HAL::micros();
_DT = MAX((now - _update_pitch_throttle_last_usec), 0U) * 1.0e-6f;
uint64_t now = AP_HAL::micros64();
_DT = (now - _update_pitch_throttle_last_usec) * 1.0e-6f;
_update_pitch_throttle_last_usec = now;
_flags.is_doing_auto_land = is_doing_auto_land;

6
libraries/AP_TECS/AP_TECS.h
View File

@ -131,13 +131,13 @@ public:
private:
// Last time update_50Hz was called
uint32_t _update_50hz_last_usec;
uint64_t _update_50hz_last_usec;
// Last time update_speed was called
uint32_t _update_speed_last_usec;
uint64_t _update_speed_last_usec;
// Last time update_pitch_throttle was called
uint32_t _update_pitch_throttle_last_usec;
uint64_t _update_pitch_throttle_last_usec;
// reference to the AHRS object
AP_AHRS &_ahrs;