From c5dc1221b68352725630cbda5c04bc0f5c3c1617 Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Wed, 30 Nov 2022 14:57:52 +0100 Subject: [PATCH] failure detector: use multiplication instead of division Co-authored-by: Daniel Agar --- src/modules/commander/failure_detector/FailureDetector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp index 007528211b..cb2d684b89 100644 --- a/src/modules/commander/failure_detector/FailureDetector.cpp +++ b/src/modules/commander/failure_detector/FailureDetector.cpp @@ -324,7 +324,7 @@ void FailureDetector::updateImbalancedPropStatus() if ((imu_status.accel_device_id != 0) && (imu_status.accel_device_id == _selected_accel_device_id)) { - const float dt = math::constrain(float(imu_status.timestamp - _imu_status_timestamp_prev) / 1_s, 0.01f, 1.f); + const float dt = math::constrain((imu_status.timestamp - _imu_status_timestamp_prev) * 1e-6f, 0.01f, 1.f); _imu_status_timestamp_prev = imu_status.timestamp; _imbalanced_prop_lpf.setParameters(dt, _imbalanced_prop_lpf_time_constant);