From 00a2a0370eedf84f68dcda5995f4e34495aaf887 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 26 Aug 2013 12:43:36 +0200 Subject: [PATCH] accelerometer_calibration fix --- src/modules/commander/accelerometer_calibration.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 82df7c37d6..7a7fa6f4e4 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -298,7 +298,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { /* set accel error threshold to 5m/s^2 */ float accel_err_thr = 5.0f; /* still time required in us */ - int64_t still_time = 2000000; + hrt_abstime still_time = 2000000; struct pollfd fds[1]; fds[0].fd = sub_sensor_combined; fds[0].events = POLLIN; @@ -342,7 +342,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { t_timeout = t + timeout; } else { /* still since t_still */ - if ((int64_t) t - (int64_t) t_still > still_time) { + if (t > t_still + still_time) { /* vehicle is still, exit from the loop to detection of its orientation */ break; }