From fae45b29fab15306d65dc9d7a2ee96addf35807b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 19 Aug 2014 19:25:08 +1000 Subject: [PATCH] AP_InertialSensor: fixed timer bug in HIL sensors --- libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp index d50691c402..bbb5e8d8ee 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp @@ -63,7 +63,7 @@ bool AP_InertialSensor_HIL::wait_for_sample(uint16_t timeout_ms) if (_sample_available()) { return true; } - uint32_t start = hal.scheduler->micros(); + uint32_t start = hal.scheduler->millis(); while ((hal.scheduler->millis() - start) < timeout_ms) { uint32_t tnow = hal.scheduler->micros(); uint32_t tdelay = (_last_sample_usec + _sample_period_usec) - tnow;