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AP_OSD: reduce scope of WITH_SEMAPHORE 

The backend write() calls don't look nasty ATM - but we should get in,
get out data and get out again ASAP.
This commit is contained in:
Peter Barker 2020-01-13 14:59:37 +11:00 committed by Andrew Tridgell
parent d167dacfae
commit 9410d40b2f
1 changed files with 16 additions and 9 deletions
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25
libraries/AP_OSD/AP_OSD_Screen.cpp
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@ -1439,9 +1439,12 @@ void AP_OSD_Screen::draw_flightime(uint8_t x, uint8_t y)
void AP_OSD_Screen::draw_eff(uint8_t x, uint8_t y)
{
AP_BattMonitor &battery = AP::battery();
AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
Vector2f v = ahrs.groundspeed_vector();
Vector2f v;
{
AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
v = ahrs.groundspeed_vector();
}
float speed = u_scale(SPEED,v.length());
float current_amps;
if ((speed > 2.0) && battery.current_amps(current_amps)) {
@ -1456,15 +1459,19 @@ void AP_OSD_Screen::draw_climbeff(uint8_t x, uint8_t y)
char unit_icon = u_icon(DISTANCE);
Vector3f v;
float vspd;
auto &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
if (ahrs.get_velocity_NED(v)) {
vspd = -v.z;
} else {
do {
{
auto &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
if (ahrs.get_velocity_NED(v)) {
vspd = -v.z;
break;
}
}
auto &baro = AP::baro();
WITH_SEMAPHORE(baro.get_semaphore());
vspd = baro.get_climb_rate();
}
} while (false);
if (vspd < 0.0) {
vspd = 0.0;
}