Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 21:05:35 +03:00
Code Issues Wiki Activity

Converted currentTime to currentTimeUs

Browse source
This commit is contained in:
Martin Budden 2016-12-01 18:57:20 +00:00
parent ec0b52aea1
commit 8d3c825646
38 changed files with 197 additions and 165 deletions
Download patch file Download diff file Expand all files Collapse all files

10
src/main/flight/imu.c
View file

@ -369,7 +369,7 @@ static bool isMagnetometerHealthy(void)
return (mag.magADC[X] != 0) && (mag.magADC[Y] != 0) && (mag.magADC[Z] != 0);
}
static void imuCalculateEstimatedAttitude(uint32_t currentTime)
static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
{
static uint32_t previousIMUUpdateTime;
float rawYawError = 0;
@ -377,8 +377,8 @@ static void imuCalculateEstimatedAttitude(uint32_t currentTime)
bool useMag = false;
bool useYaw = false;
uint32_t deltaT = currentTime - previousIMUUpdateTime;
previousIMUUpdateTime = currentTime;
uint32_t deltaT = currentTimeUs - previousIMUUpdateTime;
previousIMUUpdateTime = currentTimeUs;
if (imuIsAccelerometerHealthy()) {
useAcc = true;
@ -414,10 +414,10 @@ void imuUpdateAccelerometer(rollAndPitchTrims_t *accelerometerTrims)
}
}
void imuUpdateAttitude(uint32_t currentTime)
void imuUpdateAttitude(timeUs_t currentTimeUs)
{
if (sensors(SENSOR_ACC) && isAccelUpdatedAtLeastOnce) {
imuCalculateEstimatedAttitude(currentTime);
imuCalculateEstimatedAttitude(currentTimeUs);
} else {
acc.accSmooth[X] = 0;
acc.accSmooth[Y] = 0;