From 24ac4c9891c43b862f89b21c2c254791e4d81ced Mon Sep 17 00:00:00 2001 From: tumbili Date: Wed, 24 Jun 2015 08:38:00 +0200 Subject: [PATCH] remove usleep in gyrosim --- src/platforms/posix/drivers/gyrosim/gyrosim.cpp | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp index 1ba888c65b..fa7f92abba 100644 --- a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp +++ b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp @@ -1070,23 +1070,17 @@ GYROSIM::measure() /* * Report buffers. */ - accel_report arb; + accel_report arb; gyro_report grb; - /* - * Adjust and scale results to m/s^2. - */ + // for now use local time but this should be the timestamp of the simulator grb.timestamp = hrt_absolute_time(); arb.timestamp = grb.timestamp; - - // this sleep is needed because the timing of the drivers is not yet working - usleep(1000); - // report the error count as the sum of the number of bad // transfers and bad register reads. This allows the higher // level code to decide if it should use this sensor based on // whether it has had failures - grb.error_count = arb.error_count = 0; + grb.error_count = arb.error_count = 0; // FIXME /* * 1) Scale raw value to SI units using scaling from datasheet.