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AP_TECS: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:14:50 +09:00 committed by Randy Mackay
parent 7c9a5dc1b9
commit c70dda526c
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_TECS/AP_TECS.cpp
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@ -225,7 +225,7 @@ void AP_TECS::update_50hz(float hgt_afe)
}
// Calculate time in seconds since last update
uint32_t now = hal.scheduler->micros();
uint32_t now = AP_HAL::micros();
float DT = max((now - _update_50hz_last_usec),0)*1.0e-6f;
if (DT > 1.0f) {
_climb_rate = 0.0f;
@ -283,7 +283,7 @@ void AP_TECS::update_50hz(float hgt_afe)
void AP_TECS::_update_speed(float load_factor)
{
// Calculate time in seconds since last update
uint32_t now = hal.scheduler->micros();
uint32_t now = AP_HAL::micros();
float DT = max((now - _update_speed_last_usec),0)*1.0e-6f;
_update_speed_last_usec = now;
@ -793,7 +793,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
float load_factor)
{
// Calculate time in seconds since last update
uint32_t now = hal.scheduler->micros();
uint32_t now = AP_HAL::micros();
_DT = max((now - _update_pitch_throttle_last_usec),0)*1.0e-6f;
_update_pitch_throttle_last_usec = now;
@ -907,7 +907,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
log_tuning.thr = _throttle_dem;
log_tuning.ptch = _pitch_dem;
log_tuning.dspd_dem = _TAS_rate_dem;
log_tuning.time_us = hal.scheduler->micros64();
log_tuning.time_us = AP_HAL::micros64();
}
// log the contents of the log_tuning structure to dataflash