self->count++;
if (self->count==1) {
/// init loop
- self->cycle_time = system_time;
+ self->cycle_time = system_time;
} else {
double loop_error;
self->cycle_time += self->clock_period * period;
/// calculate loop error
- loop_error = system_time - self->cycle_time;
+ loop_error = system_time - self->cycle_time;
/// update loop
- self->cycle_time += FFMAX(self->feedback2_factor, 1.0/(self->count)) * loop_error;
+ self->cycle_time += FFMAX(self->feedback2_factor, 1.0/(self->count)) * loop_error;
self->clock_period += self->feedback3_factor * loop_error / period;
}
return self->cycle_time;