From ec2467d4a5ca028a2f410f91a5d28b2330418e6b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 28 Jan 2017 15:14:23 +0100 Subject: [PATCH] MPC controller: Do not initialize to zero dt but a likely default dt --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index e34c653257..3ec69422fd 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -2225,7 +2225,7 @@ MulticopterPositionControl::task_main() parameters_update(false); hrt_abstime t = hrt_absolute_time(); - float dt = t_prev != 0 ? (t - t_prev) / 1e6f : 0.0f; + float dt = t_prev != 0 ? (t - t_prev) / 1e6f : 0.004f; t_prev = t; // set dt for control blocks