Update the Integrator class local variable dt from double to float an…

…d utilize the hrt_abstime typedef. (#12935)

src/lib/drivers/device/integrator.cpp

@@ -51,7 +51,7 @@ Integrator::Integrator(uint32_t auto_reset_interval, bool coning_compensation) :
 }
 
 bool
-Integrator::put(const uint64_t &timestamp, const matrix::Vector3f &val, matrix::Vector3f &integral,
+Integrator::put(const hrt_abstime &timestamp, const matrix::Vector3f &val, matrix::Vector3f &integral,
 		uint32_t &integral_dt)
 {
 	if (_last_integration_time == 0) {
@@ -63,13 +63,13 @@ Integrator::put(const uint64_t &timestamp, const matrix::Vector3f &val, matrix::
 		return false;
 	}
 
-	double dt = 0.0;
+	float dt = 0.0f;
 
 	// Integrate:
 	// Leave dt at 0 if the integration time does not make sense.
 	// Without this check the integral is likely to explode.
 	if (timestamp >= _last_integration_time) {
-		dt = (double)(timestamp - _last_integration_time) / 1000000.0;
+		dt = static_cast<float>(timestamp - _last_integration_time) * 1e-6f;
 	}
 
 	// Use trapezoidal integration to calculate the delta integral
@@ -120,7 +120,7 @@ Integrator::put_with_interval(unsigned interval_us, matrix::Vector3f &val, matri
 {
 	if (_last_integration_time == 0) {
 		/* this is the first item in the integrator */
-		uint64_t now = hrt_absolute_time();
+		hrt_abstime now = hrt_absolute_time();
 		_last_integration_time = now;
 		_last_reset_time = now;
 		_last_val = val;
@@ -129,7 +129,7 @@ Integrator::put_with_interval(unsigned interval_us, matrix::Vector3f &val, matri
 	}
 
 	// Create the timestamp artifically.
-	const uint64_t timestamp = _last_integration_time + interval_us;
+	const hrt_abstime timestamp = _last_integration_time + interval_us;
 
 	return put(timestamp, val, integral, integral_dt);
 }