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RpmControl: name current timestamp now following the convention

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Matthias Grob
2025-01-14 14:55:34 +01:00
parent ee67e4bb28
commit cd0e04f8b0
1 changed files with 4 additions and 4 deletions
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src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp
+4 -4
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@@ -82,11 +82,11 @@ public:
} }
} }
hrt_abstime current_time = hrt_absolute_time(); hrt_abstime now = hrt_absolute_time();
const float dt = math::constrain((current_time - _timestamp_last_update) * 1e-6f, 1e-3f, 1.f); const float dt = math::constrain((now - _timestamp_last_update) * 1e-6f, 1e-3f, 1.f);
_timestamp_last_update = current_time; _timestamp_last_update = now;
const bool rpm_measurement_timeout = (current_time - _timestamp_last_rpm_measurement) < 1_s; const bool rpm_measurement_timeout = (now - _timestamp_last_rpm_measurement) < 1_s;
const bool no_excessive_rpm = _rpm_estimate < RPM_MAX_VALUE; const bool no_excessive_rpm = _rpm_estimate < RPM_MAX_VALUE;
if (rpm_measurement_timeout && no_excessive_rpm) { if (rpm_measurement_timeout && no_excessive_rpm) {