diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/mtecs/mTecs.h')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.h | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 502a8a8b0..62c4d7014 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -104,9 +104,15 @@ protected: /* Time measurements */ hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */ - bool _firstIterationAfterReset; /**< True during the first iteration after a reset */ + bool _firstIterationAfterReset; /**< True during the first iteration after a reset */ + bool dtCalculated; /**< True if dt has been calculated in this iteration */ int _counter; + + /* + * Measure and update the time step dt if this was not already done in the current iteration + */ + void updateTimeMeasurement(); }; } /* namespace fwPosctrl */ |