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mc_attitude_control: avoid using a static variable for last_run

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and call hrt_absolute_time() only once.
This commit is contained in:
Beat Küng
2018-02-19 17:02:31 +01:00
committed by Lorenz Meier
parent 54d1395206
commit ca9c3b18ff
1 changed files with 5 additions and 3 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+5 -3
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@@ -1093,6 +1093,8 @@ MulticopterAttitudeControl::task_main()
px4_pollfd_struct_t poll_fds = {}; px4_pollfd_struct_t poll_fds = {};
poll_fds.events = POLLIN; poll_fds.events = POLLIN;
hrt_abstime last_run = task_start;
while (!_task_should_exit) { while (!_task_should_exit) {
poll_fds.fd = _sensor_gyro_sub[_selected_gyro]; poll_fds.fd = _sensor_gyro_sub[_selected_gyro];
@@ -1117,9 +1119,9 @@ MulticopterAttitudeControl::task_main()
/* run controller on gyro changes */ /* run controller on gyro changes */
if (poll_fds.revents & POLLIN) { if (poll_fds.revents & POLLIN) {
static uint64_t last_run = 0; const hrt_abstime now = hrt_absolute_time();
float dt = (hrt_absolute_time() - last_run) / 1000000.0f; float dt = (now - last_run) / 1e6f;
last_run = hrt_absolute_time(); last_run = now;
/* guard against too small (< 2ms) and too large (> 20ms) dt's */ /* guard against too small (< 2ms) and too large (> 20ms) dt's */
if (dt < 0.002f) { if (dt < 0.002f) {