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Updated to use currentTimeUs, which is time of gyro sampling

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This commit is contained in:
Martin Budden 2017-11-12 12:49:12 +00:00
parent 0491eae52e
commit 56ed140e33
1 changed files with 0 additions and 3 deletions
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3
src/main/flight/pid.c
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@ -413,9 +413,6 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
static timeUs_t previousTime; static timeUs_t previousTime;
// calculate actual deltaT // 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; const float deltaT = currentTimeUs - previousTime;
previousTime = currentTimeUs; previousTime = currentTimeUs;