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AP_NavEKF3: fixed use of old irqsave() API

This commit is contained in:
Andrew Tridgell 2019-09-21 12:20:46 +10:00
parent 1d47f9186e
commit c6f43e9700
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -577,7 +577,7 @@ void NavEKF3_core::UpdateFilter(bool predict)
// start the timer used for load measurement
#if EK3_DISABLE_INTERRUPTS
irqstate_t istate = irqsave();
void *istate = hal.scheduler->disable_interrupts_save();
#endif
hal.util->perf_begin(_perf_UpdateFilter);
@ -628,7 +628,7 @@ void NavEKF3_core::UpdateFilter(bool predict)
// stop the timer used for load measurement
hal.util->perf_end(_perf_UpdateFilter);
#if EK3_DISABLE_INTERRUPTS
irqrestore(istate);
hal.scheduler->restore_interrupts(istate);
#endif
}