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mc_att_control: reduce minimum required dt

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2ms is not enough to run at 1kHz
This commit is contained in:
Beat Küng
2018-10-30 20:20:25 -04:00
committed by Daniel Agar
parent d552c2a362
commit fc997dd0d5
1 changed files with 3 additions and 3 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+3 -3
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@@ -703,9 +703,9 @@ MulticopterAttitudeControl::run()
float dt = (now - last_run) / 1e6f; float dt = (now - last_run) / 1e6f;
last_run = now; last_run = now;
/* guard against too small (< 2ms) and too large (> 20ms) dt's */ /* guard against too small (< 0.2ms) and too large (> 20ms) dt's */
if (dt < 0.002f) { if (dt < 0.0002f) {
dt = 0.002f; dt = 0.0002f;
} else if (dt > 0.02f) { } else if (dt > 0.02f) {
dt = 0.02f; dt = 0.02f;