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SITL: cope with restarting RealFlight while connected

This commit is contained in:
Andrew Tridgell 2016-06-04 12:07:03 +10:00
parent 9c13ac997e
commit f6e42cb3e2
1 changed files with 10 additions and 2 deletions
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12
libraries/SITL/SIM_FlightAxis.cpp
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@ -62,6 +62,7 @@ void FlightAxis::parse_reply(const char *reply)
}
if (p == nullptr) {
printf("Failed to find key %s\n", keytable[i].key);
controller_started = false;
break;
}
p += strlen(keytable[i].key) + 1;
@ -257,10 +258,17 @@ void FlightAxis::update(const struct sitl_input &input)
exchange_data(input);
double dt_seconds = state.m_currentPhysicsTime_SEC - last_time_s;
if (dt_seconds <= 0) {
if (dt_seconds < 0) {
// cope with restarting RealFlight while connected
initial_time_s = time_now_us * 1.0e-6f;
last_time_s = state.m_currentPhysicsTime_SEC;
position_offset.zero();
return;
}
if (dt_seconds < 0.0001f) {
// we probably got a repeated frame
return;
}
if (initial_time_s <= 0) {
dt_seconds = 0.001f;
initial_time_s = state.m_currentPhysicsTime_SEC - dt_seconds;