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Merge pull request #755 from martinbudden/inav_scheduler

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Pass currentTime as a parameter to all task functions
This commit is contained in:
Konstantin Sharlaimov 2016-11-06 17:15:56 +10:00 • committed by GitHub
commit fff6a2e474
25 changed files with 123 additions and 140 deletions
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5
src/main/flight/imu.c
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@ -574,12 +574,11 @@ 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) {