From 6aa642483dd3e47664bf6057be5e7d30f3bacda6 Mon Sep 17 00:00:00 2001
From: jfkeller <jkeller2@andrew.cmu.edu>
Date: Tue, 3 Apr 2018 14:06:35 -0400
Subject: [PATCH] Removed a cast to float to fix a bug where the time delta was
 being calculated incorrectly.

---
 .../firmwares/simple_flight/firmware/PidController.hpp        | 4 ++--
 1 file changed, 2 insertions(+), 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
index 96a9dfd24d..af9d2161c3 100644
--- 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
\ No newline at end of file
+} //namespace