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Copter: use new scheduler API

This commit is contained in:
Andrew Tridgell 2013-09-28 16:31:01 +10:00
parent 19651373d0
commit a0f9055a9d
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/failsafe.pde
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@ -31,8 +31,10 @@ void failsafe_disable()
//
// failsafe_check - this function is called from the core timer interrupt at 1kHz.
//
void failsafe_check(uint32_t tnow)
void failsafe_check(void *arg)
{
uint32_t tnow = hal.scheduler->micros();
if (mainLoop_count != failsafe_last_mainLoop_count) {
// the main loop is running, all is OK
failsafe_last_mainLoop_count = mainLoop_count;
@ -56,4 +58,4 @@ void failsafe_check(uint32_t tnow)
motors.output();
}
}
}
}