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ManualControl: correct calculation of dt in seconds

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Matthias Grob
2021-11-09 16:05:25 +01:00
parent 12bb2de175
commit 2528e8c572
1 changed files with 1 additions and 2 deletions
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src/modules/manual_control/ManualControl.cpp
+1 -2
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@@ -90,13 +90,12 @@ void ManualControl::Run()
bool found_at_least_one = false; bool found_at_least_one = false;
const hrt_abstime now = hrt_absolute_time(); 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++) { for (int i = 0; i < MAX_MANUAL_INPUT_COUNT; i++) {
manual_control_input_s manual_control_input; manual_control_input_s manual_control_input;
if (_manual_control_input_subs[i].update(&manual_control_input)) { if (_manual_control_input_subs[i].update(&manual_control_input)) {
found_at_least_one = true; found_at_least_one = true;
_selector.update_manual_control_input(now, manual_control_input, i); _selector.update_manual_control_input(now, manual_control_input, i);
} }