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Static dT

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borisbstyle 2015-12-27 02:10:24 +01:00
parent 97ceb57eff
commit 6d4dfcf58c
1 changed files with 1 additions and 1 deletions
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2
src/main/mw.c
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@ -647,7 +647,7 @@ static bool haveProcessedAnnexCodeOnce = false;
void taskMainPidLoop(void) void taskMainPidLoop(void)
{ {
cycleTime = getTaskDeltaTime(TASK_SELF); cycleTime = getTaskDeltaTime(TASK_SELF);
dT = (float)cycleTime * 0.000001f; dT = (float)targetLooptime * 0.000001f;
// Calculate average cycle time and average jitter // Calculate average cycle time and average jitter
filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 1, dT); filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 1, dT);