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Copter: rename variables used for NAV_DELAY command

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This commit is contained in:
Randy Mackay 2016-05-04 21:19:26 +09:00
parent 55f66b7696
commit 793e3da904
2 changed files with 8 additions and 8 deletions
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4
ArduCopter/Copter.h
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@ -380,8 +380,8 @@ private:
uint32_t brake_timeout_ms;
// Delay the next navigation command
int32_t delay_time_max; // used for delaying the navigation commands (eg land,takeoff etc.)
uint32_t delay_time_start;
int32_t nav_delay_time_max; // used for delaying the navigation commands (eg land,takeoff etc.)
uint32_t nav_delay_time_start;
// Flip
Vector3f flip_orig_attitude; // original copter attitude before flip

12
ArduCopter/commands_logic.cpp
View File

@ -524,16 +524,16 @@ void Copter::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
// do_nav_delay - Delay the next navigation command
void Copter::do_nav_delay(const AP_Mission::Mission_Command& cmd)
{
delay_time_start = millis();
nav_delay_time_start = millis();
if (cmd.content.nav_delay.seconds > 0) {
// relative delay
delay_time_max = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds
nav_delay_time_max = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds
} else {
// absolute delay to utc time
delay_time_max = hal.util->get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
nav_delay_time_max = hal.util->get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
}
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(delay_time_max/1000));
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000));
}
#if PARACHUTE == ENABLED
@ -762,8 +762,8 @@ bool Copter::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
// verify_nav_delay - check if we have waited long enough
bool Copter::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
{
if (millis() - delay_time_start > (uint32_t)MAX(delay_time_max,0)) {
delay_time_max = 0;
if (millis() - nav_delay_time_start > (uint32_t)MAX(nav_delay_time_max,0)) {
nav_delay_time_max = 0;
return true;
}
return false;