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AP_Frsky_Telem: replaced timer cond > with >=

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This commit is contained in:
Florent Martel 2016-11-04 13:29:41 -05:00 committed by Tom Pittenger
parent e43b2a73da
commit 5a96db5a44
1 changed files with 11 additions and 11 deletions
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22
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -97,7 +97,7 @@ void AP_Frsky_Telem::send_SPort_Passthrough(void)
} else { // send other sensor data if it's time for them, and reset the corresponding timer if sent
_passthrough.send_attiandrng = true; // next iteration, send attitude b/c it needs frequent updates to remain smooth
uint32_t now = AP_HAL::millis();
if (((now - _passthrough.params_timer) > 1000) && (!AP_Notify::flags.armed)) {
if (((now - _passthrough.params_timer) >= 1000) && (!AP_Notify::flags.armed)) {
send_uint32(DIY_FIRST_ID+7, calc_param());
_passthrough.params_timer = AP_HAL::millis();
return;
@ -111,34 +111,34 @@ void AP_Frsky_Telem::send_SPort_Passthrough(void)
send_uint32(DIY_FIRST_ID, _msg_chunk.chunk);
return;
}
if ((now - _passthrough.ap_status_timer) > 500) {
if ((now - _passthrough.ap_status_timer) >= 500) {
if (((*_ap.valuep) & AP_INITIALIZED_FLAG) > 0) { // send ap status only once vehicle has been initialised
send_uint32(DIY_FIRST_ID+1, calc_ap_status());
_passthrough.ap_status_timer = AP_HAL::millis();
}
return;
}
if ((now - _passthrough.batt_timer) > 1000) {
if ((now - _passthrough.batt_timer) >= 1000) {
send_uint32(DIY_FIRST_ID+3, calc_batt());
_passthrough.batt_timer = AP_HAL::millis();
return;
}
if ((now - _passthrough.gps_status_timer) > 1000) {
if ((now - _passthrough.gps_status_timer) >= 1000) {
send_uint32(DIY_FIRST_ID+2, calc_gps_status());
_passthrough.gps_status_timer = AP_HAL::millis();
return;
}
if ((now - _passthrough.home_timer) > 500) {
if ((now - _passthrough.home_timer) >= 500) {
send_uint32(DIY_FIRST_ID+4, calc_home());
_passthrough.home_timer = AP_HAL::millis();
return;
}
if ((now - _passthrough.velandyaw_timer) > 500) {
if ((now - _passthrough.velandyaw_timer) >= 500) {
send_uint32(DIY_FIRST_ID+5, calc_velandyaw());
_passthrough.velandyaw_timer = AP_HAL::millis();
return;
}
if ((now - _passthrough.gps_latlng_timer) > 1000) {
if ((now - _passthrough.gps_latlng_timer) >= 1000) {
send_uint32(GPS_LONG_LATI_FIRST_ID, calc_gps_latlng(&_passthrough.send_latitude)); // gps latitude or longitude
if (!_passthrough.send_latitude) { // we've cycled and sent one each of longitude then latitude, so reset the timer
_passthrough.gps_latlng_timer = AP_HAL::millis();
@ -270,7 +270,7 @@ void AP_Frsky_Telem::send_D(void)
{
uint32_t now = AP_HAL::millis();
// send frame1 every 200ms
if (now - _D.last_200ms_frame > 200) {
if (now - _D.last_200ms_frame >= 200) {
_D.last_200ms_frame = now;
send_uint16(DATA_ID_TEMP2, (uint16_t)(_ahrs.get_gps().num_sats() * 10 + _ahrs.get_gps().status())); // send GPS status and number of satellites as num_sats*10 + status (to fit into a uint8_t)
send_uint16(DATA_ID_TEMP1, _ap.control_mode); // send flight mode
@ -282,7 +282,7 @@ void AP_Frsky_Telem::send_D(void)
send_uint16(DATA_ID_BARO_ALT_AP, _gps.alt_nav_cm); // send nav altitude decimal part
}
// send frame2 every second
if (now - _D.last_1000ms_frame > 1000) {
if (now - _D.last_1000ms_frame >= 1000) {
_D.last_1000ms_frame = now;
send_uint16(DATA_ID_GPS_COURS_BP, (uint16_t)((_ahrs.yaw_sensor / 100) % 360)); // send heading in degree based on AHRS and not GPS
calc_gps_position();
@ -478,7 +478,7 @@ void AP_Frsky_Telem::check_sensor_status_flags(void)
{
uint32_t now = AP_HAL::millis();
if ((now - check_sensor_status_timer) > 5000) { // prevent repeating any system_status messages unless 5 seconds have passed
if ((now - check_sensor_status_timer) >= 5000) { // prevent repeating any system_status messages unless 5 seconds have passed
// only one error is reported at a time (in order of preference). Same setup and displayed messages as Mission Planner.
if ((_ap.sensor_status_flags & MAV_SYS_STATUS_SENSOR_GPS) > 0) {
queue_message(MAV_SEVERITY_CRITICAL, "Bad GPS Health");
@ -532,7 +532,7 @@ void AP_Frsky_Telem::check_ekf_status(void)
Vector2f offset;
if (_ahrs.get_variances(velVar, posVar, hgtVar, magVar, tasVar, offset)) {
uint32_t now = AP_HAL::millis();
if ((now - check_ekf_status_timer) > 10000) { // prevent repeating any ekf_status message unless 10 seconds have passed
if ((now - check_ekf_status_timer) >= 10000) { // prevent repeating any ekf_status message unless 10 seconds have passed
// multiple errors can be reported at a time. Same setup as Mission Planner.
if (velVar >= 1) {
queue_message(MAV_SEVERITY_CRITICAL, "Error velocity variance");