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@ -1,10 +1,12 @@
@@ -1,10 +1,12 @@
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#include "FlightTask.hpp" |
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#include <mathlib/mathlib.h> |
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constexpr uint64_t FlightTask::_timeout; |
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int FlightTask::update() |
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{ |
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_time = hrt_elapsed_time(&_starting_time_stamp) / 1e6f; |
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_deltatime = math::min((int)hrt_elapsed_time(&_last_time_stamp), _timeout) / 1e6f; |
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_deltatime = math::min(hrt_elapsed_time(&_last_time_stamp), _timeout) / 1e6f; |
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_last_time_stamp = hrt_absolute_time(); |
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updateSubscriptions(); |
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_evaluate_vehicle_position(); |
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