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AP_NavEKF2: fixed use of old irqsave() API

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This commit is contained in:
Andrew Tridgell 2019-09-21 12:20:45 +10:00
parent d7ee622edc
commit 1d47f9186e
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -525,7 +525,7 @@ void NavEKF2_core::UpdateFilter(bool predict)
// start the timer used for load measurement // start the timer used for load measurement
#if EK2_DISABLE_INTERRUPTS #if EK2_DISABLE_INTERRUPTS
irqstate_t istate = irqsave(); void *istate = hal.scheduler->disable_interrupts_save();
#endif #endif
hal.util->perf_begin(_perf_UpdateFilter); hal.util->perf_begin(_perf_UpdateFilter);
@ -576,7 +576,7 @@ void NavEKF2_core::UpdateFilter(bool predict)
// stop the timer used for load measurement // stop the timer used for load measurement
hal.util->perf_end(_perf_UpdateFilter); hal.util->perf_end(_perf_UpdateFilter);
#if EK2_DISABLE_INTERRUPTS #if EK2_DISABLE_INTERRUPTS
irqrestore(istate); hal.scheduler->restore_interrupts(istate);
#endif #endif
/* /*