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AP_OpticalFlow: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:13:34 +09:00 committed by Randy Mackay
parent daee8e8e76
commit 5b06924779
3 changed files with 3 additions and 3 deletions
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2
libraries/AP_OpticalFlow/AP_OpticalFlow_Linux.cpp
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@ -154,7 +154,7 @@ void AP_OpticalFlow_Linux::update(void)
} }
// throttle reads to no more than 10hz // throttle reads to no more than 10hz
uint32_t now = hal.scheduler->millis(); uint32_t now = AP_HAL::millis();
if (now - last_read_ms < 100) { if (now - last_read_ms < 100) {
return; return;
} }

2
libraries/AP_OpticalFlow/OpticalFlow.cpp
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@ -75,7 +75,7 @@ void OpticalFlow::update(void)
backend->update(); backend->update();
} }
// only healthy if the data is less than 0.5s old // only healthy if the data is less than 0.5s old
_flags.healthy = (hal.scheduler->millis() - _last_update_ms < 500); _flags.healthy = (AP_HAL::millis() - _last_update_ms < 500);
} }
void OpticalFlow::setHIL(const struct OpticalFlow::OpticalFlow_state &state) void OpticalFlow::setHIL(const struct OpticalFlow::OpticalFlow_state &state)

2
libraries/AP_OpticalFlow/OpticalFlow_backend.cpp
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@ -22,5 +22,5 @@ extern const AP_HAL::HAL& hal;
void OpticalFlow_backend::_update_frontend(const struct OpticalFlow::OpticalFlow_state &state) void OpticalFlow_backend::_update_frontend(const struct OpticalFlow::OpticalFlow_state &state)
{ {
frontend._state = state; frontend._state = state;
frontend._last_update_ms = hal.scheduler->millis(); frontend._last_update_ms = AP_HAL::millis();
} }