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Update mw.c

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do not include serial nor telemetry handler in cycletime calculation
This commit is contained in:
Trey Marc 2014-06-06 12:53:31 +02:00
parent d25564e26b
commit ea3f4cc3e4
1 changed files with 2 additions and 2 deletions
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4
src/mw.c
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@ -824,12 +824,12 @@ void loop(void)
loopTime = currentTime + mcfg.looptime; loopTime = currentTime + mcfg.looptime;
computeIMU(); computeIMU();
annexCode();
// Measure loop rate just afer reading the sensors // Measure loop rate just afer reading the sensors
currentTime = micros(); currentTime = micros();
cycleTime = (int32_t)(currentTime - previousTime); cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime; previousTime = currentTime;
// non IMU critical, temeperatur, serialcom
annexCode();
#ifdef MAG #ifdef MAG
if (sensors(SENSOR_MAG)) { if (sensors(SENSOR_MAG)) {
if (abs(rcCommand[YAW]) < 70 && f.MAG_MODE) { if (abs(rcCommand[YAW]) < 70 && f.MAG_MODE) {