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consistent and safer fix for dt calculation

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Thomas Gubler
2013-10-24 17:47:36 +02:00
parent 8f74aab468
commit ccc6dd73a0
3 changed files with 12 additions and 3 deletions
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src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+1 -1
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@@ -116,7 +116,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f;
float dt = (float)dt_micros * 1e-6f;
/* lock integral for long intervals */
if (dt_micros > 500000)