From 2528e8c572bb169d94b90d8e050db0b0e60b514b Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 6 Oct 2021 15:53:15 +0200 Subject: [PATCH] ManualControl: correct calculation of dt in seconds --- src/modules/manual_control/ManualControl.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp index ad03cea199..1a0668980b 100644 --- a/src/modules/manual_control/ManualControl.cpp +++ b/src/modules/manual_control/ManualControl.cpp @@ -90,13 +90,12 @@ void ManualControl::Run() bool found_at_least_one = false; const hrt_abstime now = hrt_absolute_time(); - const float dt_s = now - _last_time; + const float dt_s = (now - _last_time) / 1e6f; for (int i = 0; i < MAX_MANUAL_INPUT_COUNT; i++) { manual_control_input_s manual_control_input; if (_manual_control_input_subs[i].update(&manual_control_input)) { - found_at_least_one = true; _selector.update_manual_control_input(now, manual_control_input, i); }