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Code Issues Releases Activity

Flight/Stabilization: Move update time storage to before the set to make sure

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it goes

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1922 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-08 15:38:28 +00:00 committed by peabody124
parent 8308e4a4fe
commit ea85e98d7a
1 changed files with 4 additions and 2 deletions
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6
flight/OpenPilot/Modules/Stabilization/stabilization.c
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@ -193,6 +193,10 @@ static void stabilizationTask(void* parameters)
} }
} }
} }
// Save dT
actuatorDesired.UpdateTime = dT * 1000;
if(manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) if(manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL)
{ {
shouldUpdate = 0; shouldUpdate = 0;
@ -211,8 +215,6 @@ static void stabilizationTask(void* parameters)
ZeroPids(); ZeroPids();
} }
// Save dT
actuatorDesired.UpdateTime = dT * 1000;
// Clear alarms // Clear alarms
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION); AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
} }