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AP_InertialSensor: fixed timer bug in HIL sensors

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Andrew Tridgell 2014-08-19 19:25:08 +10:00 committed by Randy Mackay
parent 3a8d4cdcda
commit fae45b29fa
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
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@ -63,7 +63,7 @@ bool AP_InertialSensor_HIL::wait_for_sample(uint16_t timeout_ms)
if (_sample_available()) { if (_sample_available()) {
return true; return true;
} }
uint32_t start = hal.scheduler->micros(); uint32_t start = hal.scheduler->millis();
while ((hal.scheduler->millis() - start) < timeout_ms) { while ((hal.scheduler->millis() - start) < timeout_ms) {
uint32_t tnow = hal.scheduler->micros(); uint32_t tnow = hal.scheduler->micros();
uint32_t tdelay = (_last_sample_usec + _sample_period_usec) - tnow; uint32_t tdelay = (_last_sample_usec + _sample_period_usec) - tnow;