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Pass currentTime as a parameter to all task functions

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This commit is contained in:
Martin Budden 2016-11-02 20:54:43 +00:00
parent 6c3eac1cd7
commit 38f80f013f
25 changed files with 123 additions and 140 deletions
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5
src/main/flight/imu.c
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@ -573,12 +573,11 @@ void imuUpdateAccelerometer(void)
#endif
}
void imuUpdateAttitude(void)
void imuUpdateAttitude(uint32_t currentTime)
{
/* Calculate dT */
static uint32_t previousIMUUpdateTime;
uint32_t currentTime = micros();
float dT = (currentTime - previousIMUUpdateTime) * 1e-6;
const float dT = (currentTime - previousIMUUpdateTime) * 1e-6;
previousIMUUpdateTime = currentTime;
if (sensors(SENSOR_ACC) && isAccelUpdatedAtLeastOnce) {