[paparazzi-commits] [paparazzi/paparazzi] ff1efb: [ahrs] also pass dt to update_accel and update_mag

[GitHub]

  Branch: refs/heads/propagate_dt
  Home:   https://github.com/paparazzi/paparazzi
  Commit: ff1efbd9df39f33a7d620073937a3f06de259478
      
https://github.com/paparazzi/paparazzi/commit/ff1efbd9df39f33a7d620073937a3f06de259478
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-08 (Mon, 08 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/modules/ins/ahrs_chimu_spi.c
    M sw/airborne/subsystems/ahrs.c
    M sw/airborne/subsystems/ahrs.h
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
    M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
    M sw/airborne/subsystems/ins/ins_float_invariant.c

  Log Message:
  -----------
  [ahrs] also pass dt to update_accel and update_mag

Not so sure passing dt to the update functions is the best way to go...
Is only used to update the gains of the cmpl filters right now.
But it makes it possible to properly compute the gains and avoids having a 
dependency on sys_time in the AHRS.