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AC_PosControl: constify dt calcs

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This commit is contained in:
Randy Mackay 2019-01-30 14:51:17 +09:00
parent 8ac09c0483
commit 8710526894
1 changed files with 4 additions and 4 deletions
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8
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -467,7 +467,7 @@ bool AC_PosControl::is_active_z() const
void AC_PosControl::update_z_controller()
{
// check time since last cast
uint64_t now_us = AP_HAL::micros64();
const uint64_t now_us = AP_HAL::micros64();
if (now_us - _last_update_z_us > POSCONTROL_ACTIVE_TIMEOUT_US) {
_flags.reset_rate_to_accel_z = true;
_flags.reset_accel_to_throttle = true;
@ -797,7 +797,7 @@ void AC_PosControl::init_xy_controller()
void AC_PosControl::update_xy_controller()
{
// compute dt
uint64_t now_us = AP_HAL::micros64();
const uint64_t now_us = AP_HAL::micros64();
float dt = (now_us - _last_update_xy_us) * 1.0e-6f;
// sanity check dt
@ -823,7 +823,7 @@ void AC_PosControl::update_xy_controller()
float AC_PosControl::time_since_last_xy_update() const
{
uint64_t now_us = AP_HAL::micros64();
const uint64_t now_us = AP_HAL::micros64();
return (now_us - _last_update_xy_us) * 1.0e-6f;
}
@ -894,7 +894,7 @@ void AC_PosControl::init_vel_controller_xyz()
void AC_PosControl::update_vel_controller_xy()
{
// capture time since last iteration
uint64_t now_us = AP_HAL::micros64();
const uint64_t now_us = AP_HAL::micros64();
float dt = (now_us - _last_update_xy_us) * 1.0e-6f;
// sanity check dt