Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-01 21:48:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: change always true condition to a timer

Browse Source
This commit is contained in:
Pierre Kancir 2019-04-05 09:20:48 +02:00 committed by Randy Mackay
parent 08cbf18958
commit 54380bd144
1 changed files with 8 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduCopter/esc_calibration.cpp
View File

@ -105,11 +105,12 @@ void Copter::esc_calibration_passthrough()
BoardConfig.init_safety(); BoardConfig.init_safety();
// wait for safety switch to be pressed // wait for safety switch to be pressed
uint32_t tstart = AP_HAL::millis();
while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) { while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
bool printed_msg = false; const uint32_t tnow = AP_HAL::millis();
if (!printed_msg) { if (tnow - tstart >= 5000) {
gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch"); gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
printed_msg = true; tstart = tnow;
} }
esc_calibration_notify(); esc_calibration_notify();
hal.scheduler->delay(3); hal.scheduler->delay(3);
@ -161,11 +162,12 @@ void Copter::esc_calibration_auto()
BoardConfig.init_safety(); BoardConfig.init_safety();
// wait for safety switch to be pressed // wait for safety switch to be pressed
uint32_t tstart = AP_HAL::millis();
while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) { while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
bool printed_msg = false; const uint32_t tnow = AP_HAL::millis();
if (!printed_msg) { if (tnow - tstart >= 5000) {
gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch"); gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
printed_msg = true; tstart = tnow;
} }
esc_calibration_notify(); esc_calibration_notify();
hal.scheduler->delay(3); hal.scheduler->delay(3);