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AP_NMEA_Output: 10hz rate limiting uses uint32_t

This commit is contained in:
Randy Mackay 2019-11-29 09:46:02 +09:00
parent de5d8c5480
commit 4407b1ada0
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
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@ -67,13 +67,13 @@ uint8_t AP_NMEA_Output::_nmea_checksum(const char *str)
void AP_NMEA_Output::update() void AP_NMEA_Output::update()
{ {
const uint16_t now = AP_HAL::millis16(); const uint32_t now_ms = AP_HAL::millis();
// only send at 10Hz // only send at 10Hz
if (uint16_t(now - _last_run) < 100) { if ((now_ms - _last_run_ms) < 100) {
return; return;
} }
_last_run = now; _last_run_ms = now_ms;
// get time and date // get time and date
uint64_t time_usec; uint64_t time_usec;

2
libraries/AP_NMEA_Output/AP_NMEA_Output.h
View File

@ -47,7 +47,7 @@ private:
uint8_t _num_outputs; uint8_t _num_outputs;
AP_HAL::UARTDriver* _uart[SERIALMANAGER_NUM_PORTS]; AP_HAL::UARTDriver* _uart[SERIALMANAGER_NUM_PORTS];
uint16_t _last_run; uint32_t _last_run_ms;
}; };
#endif // !HAL_MINIMIZE_FEATURES && AP_AHRS_NAVEKF_AVAILABLE #endif // !HAL_MINIMIZE_FEATURES && AP_AHRS_NAVEKF_AVAILABLE