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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-27 07:50:52 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-27 07:50:52 +0200 |
| commit | 9f45b1c589b72753455043c043a0199b471762ce (patch) | |
| tree | 7e814009a98ef84a7f18a0da2b20c0424d0e84b2 /src/modules/commander/accelerometer_calibration.cpp | |
| parent | 6a4d3c34fbad75d3fc8f6ed02f588fd02f526607 (diff) | |
| parent | b29d13347a10156bf1690b67938e2850d4e1e4c5 (diff) | |
| download | px4-firmware-9f45b1c589b72753455043c043a0199b471762ce.tar.gz px4-firmware-9f45b1c589b72753455043c043a0199b471762ce.tar.bz2 px4-firmware-9f45b1c589b72753455043c043a0199b471762ce.zip | |
Merge branch 'multirotor' of github.com:cvg/Firmware_Private into multirotor
Diffstat (limited to 'src/modules/commander/accelerometer_calibration.cpp')
| -rw-r--r-- | src/modules/commander/accelerometer_calibration.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 82df7c37d..7a7fa6f4e 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -298,7 +298,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { /* set accel error threshold to 5m/s^2 */ float accel_err_thr = 5.0f; /* still time required in us */ - int64_t still_time = 2000000; + hrt_abstime still_time = 2000000; struct pollfd fds[1]; fds[0].fd = sub_sensor_combined; fds[0].events = POLLIN; @@ -342,7 +342,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { t_timeout = t + timeout; } else { /* still since t_still */ - if ((int64_t) t - (int64_t) t_still > still_time) { + if (t > t_still + still_time) { /* vehicle is still, exit from the loop to detection of its orientation */ break; } |