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This commit is contained in:
Mark Whitehorn
2016-02-27 11:25:56 +01:00
committed by Lorenz Meier
parent b6231c718b
commit 426903c617
1 changed files with 3 additions and 1 deletions
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src/drivers/px4fmu/fmu.cpp
+3 -1
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@@ -481,6 +481,7 @@ PX4FMU:: safety_check_button(void)
_safety_off = false;
counter++;
}
} else {
counter = 0;
}
@@ -963,7 +964,8 @@ PX4FMU::cycle()
/* main outputs */
if (i == 0) {
//main_out_latency = hrt_absolute_time() - _controls[i].timestamp - 250;
// main_out_latency = hrt_absolute_time() - _controls[i].timestamp - 250;
warnx("lat: %llu", hrt_absolute_time() - _controls[i].timestamp);
/* do only correct within the current phase */
if (abs(main_out_latency) > SCHEDULE_INTERVAL) {