mirror of https://github.com/ArduPilot/ardupilot
AP_WheelEncoder: last_reading is last update time instead of system time
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@ -77,7 +77,7 @@ void AP_WheelEncoder_Quadrature::update(void)
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_state.distance_count = irq_state[instance].distance_count;
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_state.total_count = irq_state[instance].total_count;
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_state.error_count = irq_state[instance].error_count;
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_state.last_reading_ms = AP_HAL::millis();
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_state.last_reading_ms = irq_state[instance].last_reading_ms;
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// restore interrupts
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irqrestore(istate);
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@ -190,6 +190,9 @@ void AP_WheelEncoder_Quadrature::irq_handler(uint8_t instance, bool pin_a)
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// update distance and error counts
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update_phase_and_error_count(pin_a_high, pin_b_high, irq_state[instance].phase, irq_state[instance].distance_count, irq_state[instance].total_count, irq_state[instance].error_count);
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// record update time
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irq_state[instance].last_reading_ms = AP_HAL::millis();
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}
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#endif // CONFIG_HAL_BOARD
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@ -53,6 +53,7 @@ private:
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int32_t distance_count; // distance measured by cumulative steps forward or backwards
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uint32_t total_count; // total number of successful readings from sensor (used for sensor quality calcs)
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uint32_t error_count; // total number of errors reading from sensor (used for sensor quality calcs)
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uint32_t last_reading_ms; // system time of last update from encoder
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};
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static struct IrqState irq_state[WHEELENCODER_MAX_INSTANCES];
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