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SITL: produce flow data at the requested rate

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This commit is contained in:
Andrew Tridgell 2015-01-06 14:02:57 +11:00
parent 5758f39127
commit 0076413c0a
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_HAL_AVR_SITL/sitl_optical_flow.cpp
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@ -30,12 +30,20 @@ void SITL_State::_update_flow(void)
{
double p, q, r;
Vector3f gyro;
static uint32_t last_flow_ms;
if (!_optical_flow ||
!_sitl->flow_enable) {
return;
}
// update at the requested rate
uint32_t now = hal.scheduler->millis();
if (now - last_flow_ms < 1000*(1.0f/_sitl->flow_rate)) {
return;
}
last_flow_ms = now;
// convert roll rates to body frame
SITL::convert_body_frame(_sitl->state.rollDeg,
_sitl->state.pitchDeg,