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AP_RangeFinder: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:14:24 +09:00 committed by Randy Mackay
parent 5344d95ef5
commit 82a14b183d
3 changed files with 5 additions and 5 deletions
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4
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
View File

@ -91,9 +91,9 @@ void AP_RangeFinder_LightWareSerial::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
last_reading_ms = hal.scheduler->millis();
last_reading_ms = AP_HAL::millis();
update_status();
} else if (hal.scheduler->millis() - last_reading_ms > 200) {
} else if (AP_HAL::millis() - last_reading_ms > 200) {
set_status(RangeFinder::RangeFinder_NoData);
}
}

2
libraries/AP_RangeFinder/AP_RangeFinder_PX4.cpp
View File

@ -132,7 +132,7 @@ void AP_RangeFinder_PX4::update(void)
}
// if we have not taken a reading in the last 0.2s set status to No Data
if (hal.scheduler->micros64() - _last_timestamp >= 200000) {
if (AP_HAL::micros64() - _last_timestamp >= 200000) {
set_status(RangeFinder::RangeFinder_NoData);
}

4
libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp
View File

@ -100,7 +100,7 @@ void AP_RangeFinder_PX4_PWM::update(void)
float sum_cm = 0;
uint16_t count = 0;
const float scaling = ranger._scaling[state.instance];
uint32_t now = hal.scheduler->millis();
uint32_t now = AP_HAL::millis();
while (::read(_fd, &pwm, sizeof(pwm)) == sizeof(pwm)) {
// report the voltage as the pulse width, so we get the raw
@ -147,7 +147,7 @@ void AP_RangeFinder_PX4_PWM::update(void)
}
// if we have not taken a reading in the last 0.2s set status to No Data
if (hal.scheduler->micros64() - _last_timestamp >= 200000) {
if (AP_HAL::micros64() - _last_timestamp >= 200000) {
set_status(RangeFinder::RangeFinder_NoData);
}