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px4-firmware
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Fix dt calculation which is used to calculate correct drop time.

This commit is contained in:
Lorenz Meier 2014-09-11 01:02:35 +02:00
parent cf601c09bf
commit bc880a3ff9
1 changed files with 2 additions and 2 deletions
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4
src/modules/bottle_drop/bottle_drop.cpp
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@ -466,7 +466,7 @@ BottleDrop::task_main()
const unsigned sleeptime_us = 50000; const unsigned sleeptime_us = 50000;
hrt_abstime last_run = hrt_absolute_time(); hrt_abstime last_run = hrt_absolute_time();
float dt_runs = 1e6f / sleeptime_us; float dt_runs = sleeptime_us / 1e6f;
// switch to faster updates during the drop // switch to faster updates during the drop
while (_drop_state > DROP_STATE_INIT) { while (_drop_state > DROP_STATE_INIT) {
@ -691,7 +691,7 @@ BottleDrop::task_main()
// run at roughly 20 Hz // run at roughly 20 Hz
usleep(sleeptime_us); usleep(sleeptime_us);
dt_runs = 1e6f / hrt_elapsed_time(&last_run); dt_runs = hrt_elapsed_time(&last_run) / 1e6f;
last_run = hrt_absolute_time(); last_run = hrt_absolute_time();
} }
} }