AP_HAL_SITL: use millis/micros/panic functions

libraries/AP_HAL_SITL/SITL_State.cpp

@@ -177,8 +177,8 @@ void SITL_State::_fdm_input_step(void)
     }
 
     // simulate RC input at 50Hz
-    if (hal.scheduler->millis() - last_pwm_input >= 20 && _sitl->rc_fail == 0) {
-        last_pwm_input = hal.scheduler->millis();
+    if (AP_HAL::millis() - last_pwm_input >= 20 && _sitl->rc_fail == 0) {
+        last_pwm_input = AP_HAL::millis();
         new_rc_input = true;
     }
 
@@ -214,7 +214,7 @@ void SITL_State::_fdm_input_step(void)
 
 void SITL_State::wait_clock(uint64_t wait_time_usec)
 {
-    while (hal.scheduler->micros64() < wait_time_usec) {
+    while (AP_HAL::micros64() < wait_time_usec) {
         _fdm_input_step();
     }
 }
@@ -270,10 +270,10 @@ void SITL_State::_fdm_input(void)
         _update_count++;
 
         count++;
-        if (hal.scheduler->millis() - last_report > 1000) {
+        if (AP_HAL::millis() - last_report > 1000) {
             //fprintf(stdout, "SIM %u FPS\n", count);
             count = 0;
-            last_report = hal.scheduler->millis();
+            last_report = AP_HAL::millis();
         }
         break;
 
@@ -385,7 +385,7 @@ void SITL_State::_simulator_servos(Aircraft::sitl_input &input)
     }
 
     // output at chosen framerate
-    uint32_t now = hal.scheduler->micros();
+    uint32_t now = AP_HAL::micros();
     float deltat = (now - last_update_usec) * 1.0e-6f;
     last_update_usec = now;
 
@@ -494,7 +494,7 @@ void SITL_State::_simulator_output(bool synthetic_clock_mode)
     control.turbulance = _sitl->wind_turbulance * 100;
 
     // zero the wind for the first 15s to allow pitot calibration
-    if (hal.scheduler->millis() < 15000) {
+    if (AP_HAL::millis() < 15000) {
         control.speed = 0;
     }
 

libraries/AP_HAL_SITL/SITL_cmdline.cpp

@@ -86,7 +86,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
     float speedup = 1.0f;
 
     if (asprintf(&autotest_dir, SKETCHBOOK "/Tools/autotest") <= 0) {
-        hal.scheduler->panic("out of memory");
+        AP_HAL::panic("out of memory");
     }
 
     signal(SIGFPE, _sig_fpe);

libraries/AP_HAL_SITL/UARTDriver.cpp

@@ -86,7 +86,7 @@ void SITLUARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
             _tcp_start_connection(port, wait);
         } else if (strcmp(devtype, "tcpclient") == 0) {
             if (args2 == NULL) {
-                hal.scheduler->panic("Invalid tcp client path: %s", path);                
+                AP_HAL::panic("Invalid tcp client path: %s", path);
             }
             uint16_t port = atoi(args2);
             _tcp_start_client(args1, port);
@@ -95,7 +95,7 @@ void SITLUARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
             ::printf("UART connection %s:%u\n", args1, baudrate);
             _uart_start_connection(args1, baudrate);
         } else {
-            hal.scheduler->panic("Invalid device path: %s", path);
+            AP_HAL::panic("Invalid device path: %s", path);
         }
         free(s);
     }
@@ -363,7 +363,7 @@ void SITLUARTDriver::_uart_start_connection(const char *path, uint32_t baudrate)
     }
 
     if (_fd == -1) {
-        hal.scheduler->panic("Unable to open UART %s", path);
+        AP_HAL::panic("Unable to open UART %s", path);
     }
 
     // set non-blocking

libraries/AP_HAL_SITL/sitl_barometer.cpp

@@ -44,7 +44,7 @@ void SITL_State::_update_barometer(float altitude)
     }
 
     // 80Hz
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
     if ((now - last_update) < 12) {
         return;
     }

libraries/AP_HAL_SITL/sitl_compass.cpp

@@ -48,7 +48,7 @@ void SITL_State::_update_compass(float rollDeg, float pitchDeg, float yawDeg)
     Vector3f new_mag_data = _compass->getHIL(0) + noise + motor;
 
     // 100Hz
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
     if ((now - last_update) < 10) {
         return;
     }

libraries/AP_HAL_SITL/sitl_gps.cpp

@@ -75,7 +75,7 @@ int SITL_State::gps_pipe(void)
     pipe(fd);
     gps_state.gps_fd    = fd[1];
     gps_state.client_fd = fd[0];
-    gps_state.last_update = _scheduler->millis();
+    gps_state.last_update = AP_HAL::millis();
     HALSITL::SITLUARTDriver::_set_nonblocking(gps_state.gps_fd);
     HALSITL::SITLUARTDriver::_set_nonblocking(fd[0]);
     return gps_state.client_fd;
@@ -93,7 +93,7 @@ int SITL_State::gps2_pipe(void)
     pipe(fd);
     gps2_state.gps_fd    = fd[1];
     gps2_state.client_fd = fd[0];
-    gps2_state.last_update = _scheduler->millis();
+    gps2_state.last_update = AP_HAL::millis();
     HALSITL::SITLUARTDriver::_set_nonblocking(gps2_state.gps_fd);
     HALSITL::SITLUARTDriver::_set_nonblocking(fd[0]);
     return gps2_state.client_fd;
@@ -248,7 +248,7 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d)
     status.differential_status = 0;
     status.res = 0;
     status.time_to_first_fix = 0;
-    status.uptime = hal.scheduler->millis();
+    status.uptime = AP_HAL::millis();
 
     velned.time = time_week_ms;
     velned.ned_north = 100.0f * d->speedN;
@@ -752,7 +752,7 @@ void SITL_State::_update_gps(double latitude, double longitude, float altitude,
     }
 
     // run at configured GPS rate (default 5Hz)
-    if ((hal.scheduler->millis() - gps_state.last_update) < (uint32_t)(1000/_sitl->gps_hertz)) {
+    if ((AP_HAL::millis() - gps_state.last_update) < (uint32_t)(1000/_sitl->gps_hertz)) {
         return;
     }
 
@@ -764,8 +764,8 @@ void SITL_State::_update_gps(double latitude, double longitude, float altitude,
         read(gps2_state.gps_fd, &c, 1);
     }
 
-    gps_state.last_update = hal.scheduler->millis();
-    gps2_state.last_update = hal.scheduler->millis();
+    gps_state.last_update = AP_HAL::millis();
+    gps2_state.last_update = AP_HAL::millis();
 
     d.latitude = latitude + glitch_offsets.x;
     d.longitude = longitude + glitch_offsets.y;
@@ -773,7 +773,7 @@ void SITL_State::_update_gps(double latitude, double longitude, float altitude,
 
     if (_sitl->gps_drift_alt > 0) {
         // slow altitude drift
-        d.altitude += _sitl->gps_drift_alt*sinf(hal.scheduler->millis()*0.001f*0.02f);
+        d.altitude += _sitl->gps_drift_alt*sinf(AP_HAL::millis()*0.001f*0.02f);
     }
 
     d.speedN = speedN;

libraries/AP_HAL_SITL/sitl_ins.cpp

@@ -43,7 +43,7 @@ uint16_t SITL_State::_airspeed_sensor(float airspeed)
         return 0xFFFF;
     }
     // add delay
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
     uint32_t best_time_delta_wind = 200; // initialise large time representing buffer entry closest to current time - delay.
     uint8_t best_index_wind = 0; // initialise number representing the index of the entry in buffer closest to delay.
 

libraries/AP_HAL_SITL/sitl_optical_flow.cpp

@@ -42,7 +42,7 @@ void SITL_State::_update_flow(void)
     }
 
     // update at the requested rate
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
     if (now - last_flow_ms < 1000*(1.0f/_sitl->flow_rate)) {
         return;
     }