Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

Diff: Updater.cpp

Revision:
13:5566df1250f1
Parent:
12:3cd91e150d9c
Child:
14:1dd83e626153
--- a/Updater.cpp	Wed Dec 12 17:32:24 2018 +0000
+++ b/Updater.cpp	Wed Dec 12 17:38:02 2018 +0000
@@ -1,12 +1,14 @@
 #include "Updater.h"
 
 
-void Updater::gyro(int g[3]) 
+void Updater::gyro(int g[3], float& dt) 
 {
     for (int i=0; i < 3; i++) {
         g[i] = _gyro[i];
     }
     
+    dt = _dt;
+    
     return;
 }
 
@@ -43,7 +45,7 @@
 
     // Compute dt
     thisTime = t->read_us();
-    //data.dt = (lastTime < 0) ? 0 : ((float) thisTime - (float) lastTime) / 1000.0; // first pass let dt=0
+    _dt = (lastTime < 0) ? 0 : ((float) thisTime - (float) lastTime) / 1000.0; // first pass let dt=0
     lastTime = thisTime;
 
     // Read encoders