mirror of https://github.com/ArduPilot/ardupilot
ArduCopter: use EXPECT_DELAY() macro
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4cdfe6bac3
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@ -124,7 +124,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
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interference_pct[i] = 0.0f;
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}
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hal.scheduler->expect_delay_ms(5000);
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EXPECT_DELAY(hal, 5000);
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// enable motors and pass through throttle
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init_rc_out();
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@ -137,7 +137,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
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// main run while there is no user input and the compass is healthy
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while (command_ack_start == command_ack_counter && compass.healthy() && motors->armed()) {
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hal.scheduler->expect_delay_ms(5000);
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EXPECT_DELAY(hal, 5000);
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// 50hz loop
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if (millis() - last_run_time < 20) {
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@ -230,8 +230,6 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
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}
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}
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hal.scheduler->expect_delay_ms(0);
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// stop motors
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motors->output_min();
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motors->armed(false);
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@ -25,6 +25,8 @@ void Copter::motor_test_output()
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return;
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}
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EXPECT_DELAY(hal, 2000);
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// check for test timeout
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uint32_t now = AP_HAL::millis();
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if ((now - motor_test_start_ms) >= motor_test_timeout_ms) {
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@ -146,6 +148,7 @@ MAV_RESULT Copter::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t moto
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// start test
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ap.motor_test = true;
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EXPECT_DELAY(hal, 3000);
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// enable and arm motors
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if (!motors->armed()) {
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init_rc_out();
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