Made timer unsigned

ArduCopter/ArduCopter.pde

@@ -738,8 +738,8 @@ static int16_t 	event_undo_value;
 ////////////////////////////////////////////////////////////////////////////////
 // Delay Mission Scripting Command
 ////////////////////////////////////////////////////////////////////////////////
-static int32_t 	condition_value;					// used in condition commands (eg delay, change alt, etc.)
-static int32_t 	condition_start;
+static int32_t 	condition_value; // used in condition commands (eg delay, change alt, etc.)
+static uint32_t condition_start;
 
 
 ////////////////////////////////////////////////////////////////////////////////

ArduCopter/commands_logic.pde

@@ -386,8 +386,6 @@ static bool verify_land()
 		old_alt = 0;
 		return false;
 	}
-	//Serial.printf("N, %d\n", velocity_land);
-	//Serial.printf("N_alt, %ld\n", next_WP.alt);
 	return false;
 }
 
@@ -509,7 +507,7 @@ static void do_change_alt()
 {
 	Location temp	= next_WP;
 	condition_start = current_loc.alt;
-	condition_value	= command_cond_queue.alt;
+	//condition_value	= command_cond_queue.alt;
 	temp.alt		= command_cond_queue.alt;
 	set_next_WP(&temp);
 }
@@ -582,9 +580,9 @@ static void do_yaw()
 static bool verify_wait_delay()
 {
 	//Serial.print("vwd");
-	if ((unsigned)(millis() - condition_start) > condition_value){
+	if ((unsigned)(millis() - condition_start) > (unsigned)condition_value){
 		//Serial.println("y");
-		condition_value		= 0;
+		condition_value = 0;
 		return true;
 	}
 	//Serial.println("n");
@@ -597,13 +595,11 @@ static bool verify_change_alt()
 	if (condition_start < next_WP.alt){
 		// we are going higer
 		if(current_loc.alt > next_WP.alt){
-			condition_value = 0;
 			return true;
 		}
 	}else{
 		// we are going lower
 		if(current_loc.alt < next_WP.alt){
-			condition_value = 0;
 			return true;
 		}
 	}

Tools/autotest/pysim/sim_multicopter.py

@@ -168,10 +168,10 @@ while True:
     frame_count += 1
     t = time.time()
     if t - lastt > 1.0:
-        print("%.2f fps zspeed=%.2f zaccel=%.2f h=%.1f a=%.1f yaw=%.1f yawrate=%.1f" % (
-            frame_count/(t-lastt),
-            a.velocity.z, a.accel.z, a.position.z, a.altitude,
-            a.yaw, a.yaw_rate))
+        #print("%.2f fps zspeed=%.2f zaccel=%.2f h=%.1f a=%.1f yaw=%.1f yawrate=%.1f" % (
+         #   frame_count/(t-lastt),
+          #  a.velocity.z, a.accel.z, a.position.z, a.altitude,
+           # a.yaw, a.yaw_rate))
         lastt = t
         frame_count = 0
     frame_end = time.time()

libraries/Desktop/support/sitl.cpp

@@ -135,7 +135,7 @@ static void sitl_fdm_input(void)
 
 		count++;
 		if (millis() - last_report > 1000) {
-			printf("SIM %u FPS\n", count);
+			//printf("SIM %u FPS\n", count);
 			count = 0;
 			last_report = millis();
 		}

libraries/Desktop/support/sitl_adc.cpp

@@ -111,11 +111,12 @@ void sitl_update_adc(float roll, float pitch, float yaw,
 	     (fabs(roll - dcm.roll_sensor/100.0) > 5.0 ||
 	      fabs(pitch - dcm.pitch_sensor/100.0) > 5.0))) {
 		last_report = tnow;
-		printf("roll=%5.1f / %5.1f  pitch=%5.1f / %5.1f  rr=%5.2f / %5.2f  pr=%5.2f / %5.2f\n",
+		/*printf("roll=%5.1f / %5.1f  pitch=%5.1f / %5.1f  rr=%5.2f / %5.2f  pr=%5.2f / %5.2f\n",
 		       roll, dcm.roll_sensor/100.0,
 		       pitch, dcm.pitch_sensor/100.0,
 		       rollRate, ToDeg(omega.x),
 		       pitchRate, ToDeg(omega.y));
+		*/
 	}
 }