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Sub: NAV_Delay variable timers to be all unsigned and labeled as _ms

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Tom Pittenger 2019-08-09 11:42:00 -07:00 committed by Tom Pittenger
parent 0983a04d52
commit 018e766a3f
2 changed files with 8 additions and 8 deletions
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4
ArduSub/Sub.h
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@ -324,8 +324,8 @@ private:
uint32_t loiter_time; // How long have we been loitering - The start time in millis uint32_t loiter_time; // How long have we been loitering - The start time in millis
// Delay the next navigation command // Delay the next navigation command
int32_t nav_delay_time_max; // used for delaying the navigation commands uint32_t nav_delay_time_max_ms; // used for delaying the navigation commands
uint32_t nav_delay_time_start; uint32_t nav_delay_time_start_ms;
// Battery Sensors // Battery Sensors
AP_BattMonitor battery{MASK_LOG_CURRENT, AP_BattMonitor battery{MASK_LOG_CURRENT,

12
ArduSub/commands_logic.cpp
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@ -473,16 +473,16 @@ void Sub::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
// do_nav_delay - Delay the next navigation command // do_nav_delay - Delay the next navigation command
void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd) void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd)
{ {
nav_delay_time_start = AP_HAL::millis(); nav_delay_time_start_ms = AP_HAL::millis();
if (cmd.content.nav_delay.seconds > 0) { if (cmd.content.nav_delay.seconds > 0) {
// relative delay // relative delay
nav_delay_time_max = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds nav_delay_time_max_ms = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds
} else { } else {
// absolute delay to utc time // absolute delay to utc time
nav_delay_time_max = AP::rtc().get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0); nav_delay_time_max_ms = AP::rtc().get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
} }
gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000)); gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",nav_delay_time_max_ms/1000);
} }
#if NAV_GUIDED == ENABLED #if NAV_GUIDED == ENABLED
@ -657,8 +657,8 @@ bool Sub::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
// verify_nav_delay - check if we have waited long enough // verify_nav_delay - check if we have waited long enough
bool Sub::verify_nav_delay(const AP_Mission::Mission_Command& cmd) bool Sub::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
{ {
if (AP_HAL::millis() - nav_delay_time_start > (uint32_t)MAX(nav_delay_time_max, 0)) { if (AP_HAL::millis() - nav_delay_time_start_ms > nav_delay_time_max_ms) {
nav_delay_time_max = 0; nav_delay_time_max_ms = 0;
return true; return true;
} }
return false; return false;