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AP_EPM: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:09:58 +09:00 committed by Randy Mackay
parent 0ae2fe6fcd
commit 032acaaee4
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_EPM/AP_EPM.cpp
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@ -86,7 +86,7 @@ void AP_EPM::grab()
_flags.active = true;
// capture time
_last_grab_or_release = hal.scheduler->millis();
_last_grab_or_release = AP_HAL::millis();
// move the servo to the release position
RC_Channel_aux::set_radio(RC_Channel_aux::k_epm, _grab_pwm);
@ -105,7 +105,7 @@ void AP_EPM::release()
_flags.active = true;
// capture time
_last_grab_or_release = hal.scheduler->millis();
_last_grab_or_release = AP_HAL::millis();
// move the servo to the release position
RC_Channel_aux::set_radio(RC_Channel_aux::k_epm, _release_pwm);
@ -131,12 +131,12 @@ void AP_EPM::neutral()
void AP_EPM::update()
{
// move EPM PWM output back to neutral 2 seconds after the last grab or release
if (_flags.active && (hal.scheduler->millis() - _last_grab_or_release > EPM_RETURN_TO_NEUTRAL_MS)) {
if (_flags.active && (AP_HAL::millis() - _last_grab_or_release > EPM_RETURN_TO_NEUTRAL_MS)) {
neutral();
}
// re-grab the cargo intermittently
if (_flags.grab && (_regrab_interval > 0) && (hal.scheduler->millis() - _last_grab_or_release > ((uint32_t)_regrab_interval * 1000))) {
if (_flags.grab && (_regrab_interval > 0) && (AP_HAL::millis() - _last_grab_or_release > ((uint32_t)_regrab_interval * 1000))) {
grab();
}
}