fw_pos_control_l1: pass time through from run

src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.cpp

@@ -49,14 +49,10 @@ namespace launchdetection
 CatapultLaunchMethod::CatapultLaunchMethod(ModuleParams *parent) :
 	ModuleParams(parent)
 {
-	_last_timestamp = hrt_absolute_time();
 }
 
-void CatapultLaunchMethod::update(float accel_x)
+void CatapultLaunchMethod::update(const float dt, float accel_x)
 {
-	float dt = hrt_elapsed_time(&_last_timestamp) * 1e-6f;
-	_last_timestamp = hrt_absolute_time();
-
 	switch (state) {
 	case LAUNCHDETECTION_RES_NONE:
 

src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.h

@@ -55,13 +55,12 @@ public:
 	CatapultLaunchMethod(ModuleParams *parent);
 	~CatapultLaunchMethod() override = default;
 
-	void update(float accel_x) override;
+	void update(const float dt, float accel_x) override;
 	LaunchDetectionResult getLaunchDetected() const override;
 	void reset() override;
 	float getPitchMax(float pitchMaxDefault) override;
 
 private:
-	hrt_abstime _last_timestamp{0};
 	float _integrator{0.0f};
 	float _motorDelayCounter{0.0f};
 

src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.cpp

@@ -68,11 +68,11 @@ void LaunchDetector::reset()
 	_activeLaunchDetectionMethodIndex = -1;
 }
 
-void LaunchDetector::update(float accel_x)
+void LaunchDetector::update(const float dt, float accel_x)
 {
 	if (launchDetectionEnabled()) {
 		for (const auto launchMethod : _launchMethods) {
-			launchMethod->update(accel_x);
+			launchMethod->update(dt, accel_x);
 		}
 	}
 }

src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.h

@@ -58,7 +58,7 @@ public:
 
 	void reset();
 
-	void update(float accel_x);
+	void update(const float dt, float accel_x);
 	LaunchDetectionResult getLaunchDetected();
 	bool launchDetectionEnabled() { return _param_laun_all_on.get(); }
 

src/modules/fw_pos_control_l1/launchdetection/LaunchMethod.h

@@ -59,7 +59,7 @@ class LaunchMethod
 public:
 	virtual ~LaunchMethod() = default;
 
-	virtual void update(float accel_x) = 0;
+	virtual void update(const float dt, float accel_x) = 0;
 	virtual LaunchDetectionResult getLaunchDetected() const = 0;
 	virtual void reset() = 0;