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accelerometer_calibration fix

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This commit is contained in:
Anton Babushkin 2013-08-26 12:43:36 +02:00
parent 31dcd5a16d
commit 00a2a0370e
1 changed files with 2 additions and 2 deletions
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4
src/modules/commander/accelerometer_calibration.cpp
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@ -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;
}