Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_InertialSensor: removed use of hrt_absolute_time()

Browse Source
This commit is contained in:
Andrew Tridgell 2014-08-20 08:42:32 +10:00
parent e143acd8bf
commit 5c9e5fbc11
2 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
View File

@ -212,12 +212,12 @@ void AP_InertialSensor_PX4::_get_sample(void)
_last_gyro_timestamp[i] = gyro_report.timestamp;
}
}
_last_get_sample_timestamp = hrt_absolute_time();
_last_get_sample_timestamp = hal.scheduler->micros64();
}
bool AP_InertialSensor_PX4::_sample_available(void)
{
uint64_t tnow = hrt_absolute_time();
uint64_t tnow = hal.scheduler->micros64();
while (tnow - _last_sample_timestamp > _sample_time_usec) {
_have_sample_available = true;
_last_sample_timestamp += _sample_time_usec;
@ -230,9 +230,9 @@ bool AP_InertialSensor_PX4::wait_for_sample(uint16_t timeout_ms)
if (_sample_available()) {
return true;
}
uint32_t start = hal.scheduler->millis();
while ((hal.scheduler->millis() - start) < timeout_ms) {
uint64_t tnow = hrt_absolute_time();
uint64_t start = hal.scheduler->millis64();
while ((hal.scheduler->millis64() - start) < timeout_ms) {
uint64_t tnow = hal.scheduler->micros64();
// we spin for the last timing_lag microseconds. Before that
// we yield the CPU to allow IO to happen
const uint16_t timing_lag = 400;

6
libraries/AP_InertialSensor/AP_InertialSensor_VRBRAIN.cpp
View File

@ -212,12 +212,12 @@ void AP_InertialSensor_VRBRAIN::_get_sample(void)
_last_gyro_timestamp[i] = gyro_report.timestamp;
}
}
_last_get_sample_timestamp = hrt_absolute_time();
_last_get_sample_timestamp = hal.scheduler->micros64();
}
bool AP_InertialSensor_VRBRAIN::_sample_available(void)
{
uint64_t tnow = hrt_absolute_time();
uint64_t tnow = hal.scheduler->micros64();
while (tnow - _last_sample_timestamp > _sample_time_usec) {
_have_sample_available = true;
_last_sample_timestamp += _sample_time_usec;
@ -232,7 +232,7 @@ bool AP_InertialSensor_VRBRAIN::wait_for_sample(uint16_t timeout_ms)
}
uint32_t start = hal.scheduler->millis();
while ((hal.scheduler->millis() - start) < timeout_ms) {
uint64_t tnow = hrt_absolute_time();
uint64_t tnow = hal.scheduler->micros64();
// we spin for the last timing_lag microseconds. Before that
// we yield the CPU to allow IO to happen
const uint16_t timing_lag = 400;