From a058bb38433fec3ead2fac410f34043cbe603f30 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Wed, 2 Mar 2016 14:54:44 +0100
Subject: [PATCH] Fix debug calculation in motor cycletime

---
 src/main/mw.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/mw.c b/src/main/mw.c
index dae33bc959..56c5c5b3c1 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -730,10 +730,10 @@ void subTasksMainPidLoop(void) {
 void taskMotorUpdate(void) {
     if (debugMode == DEBUG_CYCLETIME) {
         static uint32_t previousMotorUpdateTime;
-        uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
+        uint32_t currentDeltaTime = micros() - previousMotorUpdateTime;
         debug[2] = currentDeltaTime;
-        debug[3] = currentDeltaTime - previousMotorUpdateTime;
-        previousMotorUpdateTime = currentDeltaTime;
+        debug[3] = currentDeltaTime - targetPidLooptime;
+        previousMotorUpdateTime = micros();
     }
 
 #ifdef USE_SERVOS