From 38782029adba02e0dce8dbde3452f07f6074acec Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 13 Aug 2020 08:20:35 +0200
Subject: [PATCH] fix control_allocator: set _last_run at the correct place

---
 src/modules/control_allocator/ControlAllocator.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 49fb75f372..192ab56fa1 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -295,7 +295,6 @@ ControlAllocator::Run()
 	// Guard against too small (< 0.2ms) and too large (> 20ms) dt's.
 	const hrt_abstime now = hrt_absolute_time();
 	const float dt = math::constrain(((now - _last_run) / 1e6f), 0.0002f, 0.02f);
-	_last_run = now;
 
 	bool do_update = false;
 	vehicle_torque_setpoint_s vehicle_torque_setpoint;
@@ -322,6 +321,7 @@ ControlAllocator::Run()
 	}
 
 	if (do_update) {
+		_last_run = now;
 
 		// Update effectiveness matrix if needed
 		if (_actuator_effectiveness->update()) {