From 8959007a3893502717a9cdc12d705a24c8c02642 Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Mon, 17 Jan 2011 02:11:05 +0000
Subject: [PATCH] Flight/Actuator: Log the longest update of motors in ms, not
 ms * 10

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2467 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/Modules/Actuator/actuator.c                        | 4 ++--
 ground/src/shared/uavobjectdefinition/actuatorcommand.xml | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c
index 8940a4dd4..27aa0af6d 100644
--- a/flight/Modules/Actuator/actuator.c
+++ b/flight/Modules/Actuator/actuator.c
@@ -216,8 +216,8 @@ static void actuatorTask(void* parameters)
 
 		// Store update time
 		command.UpdateTime = 10000*dT;
-		if(command.UpdateTime > command.MaxUpdateTime)
-			command.MaxUpdateTime = command.UpdateTime;
+		if(1000*dT > command.MaxUpdateTime)
+			command.MaxUpdateTime = 1000*dT;
 		
 		// Update output object
 		ActuatorCommandSet(&command);
diff --git a/ground/src/shared/uavobjectdefinition/actuatorcommand.xml b/ground/src/shared/uavobjectdefinition/actuatorcommand.xml
index 5f9640fee..03bf3c27a 100644
--- a/ground/src/shared/uavobjectdefinition/actuatorcommand.xml
+++ b/ground/src/shared/uavobjectdefinition/actuatorcommand.xml
@@ -3,7 +3,7 @@
         <description>Contains the pulse duration sent to each of the channels.  Set by @ref ActuatorModule</description>
         <field name="Channel" units="us" type="int16" elements="8"/>
         <field name="UpdateTime" units="ms x 10" type="uint8" elements="1"/>
-        <field name="MaxUpdateTime" units="ms x 10" type="uint8" elements="1"/>
+        <field name="MaxUpdateTime" units="ms" type="uint16" elements="1"/>
         <field name="NumFailedUpdates" units="" type="uint8" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>