Removed a cast to float to fix a bug where the time delta was being c…

…alculated incorrectly.
microsoft · Apr 3, 2018 · 6aa6424 · 6aa6424
1 parent 1c7b250
commit 6aa6424
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/PidController.hpp b/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/PidController.hpp
@@ -91,7 +91,7 @@ class PidController : public IUpdatable {
         const T error = goal_ - measured_;
 
         float dt = clock_ == nullptr ? 1 :
-            (static_cast<float>(clock_->millis()) - last_time_)
+            (clock_->millis() - last_time_)
             * config_.time_scale;
 
         float pterm = error * config_.kp;
@@ -135,4 +135,4 @@ class PidController : public IUpdatable {
 };
 
 
-} //namespace
+} //namespace