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Rover: rename guided limits start_time_ms

This commit is contained in:
Randy Mackay 2019-03-15 15:00:31 +09:00
parent 591e2ebeea
commit 28ac2c2600
2 changed files with 3 additions and 3 deletions
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2
APMrover2/mode.h
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@ -419,7 +419,7 @@ protected:
struct {
uint32_t timeout_ms;// timeout from the time that guided is invoked
float horiz_max; // horizontal position limit in meters from where guided mode was initiated (0 = no limit)
uint32_t start_time;// system time in milliseconds that control was handed to the external computer
uint32_t start_time_ms; // system time in milliseconds that control was handed to the external computer
Location start_loc; // starting location for checking horiz_max limit
} limit;
};

4
APMrover2/mode_guided.cpp
View File

@ -220,7 +220,7 @@ void ModeGuided::limit_clear()
// only called from AUTO mode's start_guided method
void ModeGuided::limit_init_time_and_location()
{
limit.start_time = AP_HAL::millis();
limit.start_time_ms = AP_HAL::millis();
limit.start_loc = rover.current_loc;
}
@ -228,7 +228,7 @@ void ModeGuided::limit_init_time_and_location()
bool ModeGuided::limit_breached() const
{
// check if we have passed the timeout
if ((limit.timeout_ms > 0) && (millis() - limit.start_time >= limit.timeout_ms)) {
if ((limit.timeout_ms > 0) && (millis() - limit.start_time_ms >= limit.timeout_ms)) {
return true;
}