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AP_Arming: use millis/micros/panic functions

This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-11-20 12:07:23 +09:00 committed by Randy Mackay
parent 410bbe4c26
commit b8f0beab83
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Arming/AP_Arming.cpp
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@ -175,9 +175,9 @@ bool AP_Arming::ins_checks(bool report)
threshold *= 3;
}
if (vec_diff.length() <= threshold) {
last_accel_pass_ms[i] = hal.scheduler->millis();
last_accel_pass_ms[i] = AP_HAL::millis();
}
if (hal.scheduler->millis() - last_accel_pass_ms[i] > 10000) {
if (AP_HAL::millis() - last_accel_pass_ms[i] > 10000) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: inconsistent Accelerometers");
}
@ -196,9 +196,9 @@ bool AP_Arming::ins_checks(bool report)
// allow for up to 5 degrees/s difference. Pass if its
// been OK in last 10 seconds
if (vec_diff.length() <= radians(5)) {
last_gyro_pass_ms[i] = hal.scheduler->millis();
last_gyro_pass_ms[i] = AP_HAL::millis();
}
if (hal.scheduler->millis() - last_gyro_pass_ms[i] > 10000) {
if (AP_HAL::millis() - last_gyro_pass_ms[i] > 10000) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: inconsistent gyros");
}