From 56ed140e330b6677d1cc7b30768cc1b86da88ecd Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Sun, 12 Nov 2017 12:49:12 +0000
Subject: [PATCH] Updated to use currentTimeUs, which is time of gyro sampling

---
 src/main/flight/pid.c | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 88ce802c18..3a5beae970 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -413,9 +413,6 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
     static timeUs_t previousTime;
 
     // calculate actual deltaT
-#ifndef SITL
-    currentTimeUs = microsISR(); // re-get current time, since there can be variations in timing since scheduler invocation
-#endif
     const float deltaT = currentTimeUs - previousTime;
     previousTime = currentTimeUs;