diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-11 01:02:35 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-11 01:02:35 +0200 |
| commit | bc880a3ff9a297d39c7f53068bbe3ad1be572d44 (patch) | |
| tree | b81bb0b5e945035802c442777f5628edf5779019 | |
| parent | cf601c09bf14ac4141bc66f2f71934fcf65da2a6 (diff) | |
| download | px4-firmware-bc880a3ff9a297d39c7f53068bbe3ad1be572d44.tar.gz px4-firmware-bc880a3ff9a297d39c7f53068bbe3ad1be572d44.tar.bz2 px4-firmware-bc880a3ff9a297d39c7f53068bbe3ad1be572d44.zip | |
Fix dt calculation which is used to calculate correct drop time.
| -rw-r--r-- | src/modules/bottle_drop/bottle_drop.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 0bb65252f..811470308 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -466,7 +466,7 @@ BottleDrop::task_main() const unsigned sleeptime_us = 50000; hrt_abstime last_run = hrt_absolute_time(); - float dt_runs = 1e6f / sleeptime_us; + float dt_runs = sleeptime_us / 1e6f; // switch to faster updates during the drop while (_drop_state > DROP_STATE_INIT) { @@ -691,7 +691,7 @@ BottleDrop::task_main() // run at roughly 20 Hz usleep(sleeptime_us); - dt_runs = 1e6f / hrt_elapsed_time(&last_run); + dt_runs = hrt_elapsed_time(&last_run) / 1e6f; last_run = hrt_absolute_time(); } } |