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AP_Mount: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:12:50 +09:00 committed by Randy Mackay
parent 513f4fe986
commit 0b2184b818
3 changed files with 7 additions and 7 deletions
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6
libraries/AP_Mount/AP_Mount_SToRM32.cpp
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@ -75,7 +75,7 @@ void AP_Mount_SToRM32::update()
} }
// resend target angles at least once per second // resend target angles at least once per second
if (resend_now || ((hal.scheduler->millis() - _last_send) > AP_MOUNT_STORM32_RESEND_MS)) { if (resend_now || ((AP_HAL::millis() - _last_send) > AP_MOUNT_STORM32_RESEND_MS)) {
send_do_mount_control(ToDeg(_angle_ef_target_rad.y), ToDeg(_angle_ef_target_rad.x), ToDeg(_angle_ef_target_rad.z), MAV_MOUNT_MODE_MAVLINK_TARGETING); send_do_mount_control(ToDeg(_angle_ef_target_rad.y), ToDeg(_angle_ef_target_rad.x), ToDeg(_angle_ef_target_rad.z), MAV_MOUNT_MODE_MAVLINK_TARGETING);
} }
} }
@ -115,7 +115,7 @@ void AP_Mount_SToRM32::find_gimbal()
} }
// return if search time has has passed // return if search time has has passed
if (hal.scheduler->millis() > AP_MOUNT_STORM32_SEARCH_MS) { if (AP_HAL::millis() > AP_MOUNT_STORM32_SEARCH_MS) {
return; return;
} }
@ -154,5 +154,5 @@ void AP_Mount_SToRM32::send_do_mount_control(float pitch_deg, float roll_deg, fl
mount_mode); mount_mode);
// store time of send // store time of send
_last_send = hal.scheduler->millis(); _last_send = AP_HAL::millis();
} }

6
libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
View File

@ -90,9 +90,9 @@ void AP_Mount_SToRM32_serial::update()
} }
// resend target angles at least once per second // resend target angles at least once per second
resend_now = resend_now || ((hal.scheduler->millis() - _last_send) > AP_MOUNT_STORM32_SERIAL_RESEND_MS); resend_now = resend_now || ((AP_HAL::millis() - _last_send) > AP_MOUNT_STORM32_SERIAL_RESEND_MS);
if ((hal.scheduler->millis() - _last_send) > AP_MOUNT_STORM32_SERIAL_RESEND_MS*2) { if ((AP_HAL::millis() - _last_send) > AP_MOUNT_STORM32_SERIAL_RESEND_MS*2) {
_reply_type = ReplyType_UNKNOWN; _reply_type = ReplyType_UNKNOWN;
} }
if (can_send(resend_now)) { if (can_send(resend_now)) {
@ -189,7 +189,7 @@ void AP_Mount_SToRM32_serial::send_target_angles(float pitch_deg, float roll_deg
} }
// store time of send // store time of send
_last_send = hal.scheduler->millis(); _last_send = AP_HAL::millis();
} }
void AP_Mount_SToRM32_serial::get_angles() { void AP_Mount_SToRM32_serial::get_angles() {

2
libraries/AP_Mount/AP_Mount_Servo.cpp
View File

@ -30,7 +30,7 @@ void AP_Mount_Servo::update()
static bool mount_open = 0; // 0 is closed static bool mount_open = 0; // 0 is closed
// check servo map every three seconds to allow users to modify parameters // check servo map every three seconds to allow users to modify parameters
uint32_t now = hal.scheduler->millis(); uint32_t now = AP_HAL::millis();
if (now - _last_check_servo_map_ms > 3000) { if (now - _last_check_servo_map_ms > 3000) {
check_servo_map(); check_servo_map();
_last_check_servo_map_ms = now; _last_check_servo_map_ms = now;