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Copter: use millis/micros/panic functions

This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-11-20 12:04:45 +09:00 committed by Randy Mackay
parent dd3fb0a689
commit c7acc46d09
11 changed files with 35 additions and 44 deletions
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2
ArduCopter/ArduCopter.cpp
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@ -181,7 +181,7 @@ void Copter::setup()
// setup initial performance counters
perf_info_reset();
fast_loopTimer = hal.scheduler->micros();
fast_loopTimer = AP_HAL::micros();
}
/*

5
ArduCopter/Copter.h
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@ -680,8 +680,6 @@ private:
void log_picture();
uint8_t mavlink_compassmot(mavlink_channel_t chan);
void delay(uint32_t ms);
uint32_t millis();
uint32_t micros();
bool acro_init(bool ignore_checks);
void acro_run();
void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out);
@ -1024,4 +1022,7 @@ public:
extern const AP_HAL::HAL& hal;
extern Copter copter;
using AP_HAL::millis;
using AP_HAL::micros;
#endif // _COPTER_H_

6
ArduCopter/GCS_Mavlink.cpp
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@ -531,7 +531,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
switch(id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
copter.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = hal.scheduler->millis();
copter.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = AP_HAL::millis();
copter.send_heartbeat(chan);
break;
@ -1002,7 +1002,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if(msg->sysid != copter.g.sysid_my_gcs) break;
copter.failsafe.last_heartbeat_ms = hal.scheduler->millis();
copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
copter.pmTest1++;
break;
}
@ -1124,7 +1124,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
copter.failsafe.rc_override_active = hal.rcin->set_overrides(v, 8);
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
copter.failsafe.last_heartbeat_ms = hal.scheduler->millis();
copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}

38
ArduCopter/Log.cpp
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@ -172,7 +172,7 @@ void Copter::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_targ
{
struct log_AutoTune pkt = {
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNE_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
axis : axis,
tune_step : tune_step,
meas_target : meas_target,
@ -198,7 +198,7 @@ void Copter::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
{
struct log_AutoTuneDetails pkt = {
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNEDETAILS_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
angle_cd : angle_cd,
rate_cds : rate_cds
};
@ -237,7 +237,7 @@ void Copter::Log_Write_Optflow()
const Vector2f &bodyRate = optflow.bodyRate();
struct log_Optflow pkt = {
LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
surface_quality : optflow.quality(),
flow_x : flowRate.x,
flow_y : flowRate.y,
@ -274,7 +274,7 @@ void Copter::Log_Write_Nav_Tuning()
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
desired_pos_x : pos_target.x,
desired_pos_y : pos_target.y,
pos_x : position.x,
@ -309,7 +309,7 @@ void Copter::Log_Write_Control_Tuning()
{
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
throttle_in : channel_throttle->control_in,
angle_boost : attitude_control.angle_boost(),
throttle_out : motors.get_throttle(),
@ -340,7 +340,7 @@ void Copter::Log_Write_Performance()
{
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
num_long_running : perf_info_get_num_long_running(),
num_loops : perf_info_get_num_loops(),
max_time : perf_info_get_max_time(),
@ -394,7 +394,7 @@ void Copter::Log_Write_Rate()
const Vector3f &accel_target = pos_control.get_accel_target();
struct log_Rate pkt_rate = {
LOG_PACKET_HEADER_INIT(LOG_RATE_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
control_roll : (float)rate_targets.x,
roll : (float)(ahrs.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100),
roll_out : motors.get_roll(),
@ -426,7 +426,7 @@ void Copter::Log_Write_MotBatt()
#if FRAME_CONFIG != HELI_FRAME
struct log_MotBatt pkt_mot = {
LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
lift_max : (float)(motors.get_lift_max()),
bat_volt : (float)(motors.get_batt_voltage_filt()),
bat_res : (float)(motors.get_batt_resistance()),
@ -446,7 +446,7 @@ void Copter::Log_Write_Startup()
{
struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
time_us : hal.scheduler->micros64()
time_us : AP_HAL::micros64()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -463,7 +463,7 @@ void Copter::Log_Write_Event(uint8_t id)
if (should_log(MASK_LOG_ANY)) {
struct log_Event pkt = {
LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
id : id
};
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
@ -484,7 +484,7 @@ void Copter::Log_Write_Data(uint8_t id, int16_t value)
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
id : id,
data_value : value
};
@ -506,7 +506,7 @@ void Copter::Log_Write_Data(uint8_t id, uint16_t value)
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
id : id,
data_value : value
};
@ -527,7 +527,7 @@ void Copter::Log_Write_Data(uint8_t id, int32_t value)
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
id : id,
data_value : value
};
@ -548,7 +548,7 @@ void Copter::Log_Write_Data(uint8_t id, uint32_t value)
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
id : id,
data_value : value
};
@ -570,7 +570,7 @@ void Copter::Log_Write_Data(uint8_t id, float value)
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Float pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
id : id,
data_value : value
};
@ -590,7 +590,7 @@ void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
{
struct log_Error pkt = {
LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
sub_system : sub_system,
error_code : error_code,
};
@ -616,7 +616,7 @@ void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t
{
struct log_ParameterTuning pkt_tune = {
LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
parameter : param,
tuning_value : tuning_val,
control_in : control_in,
@ -671,7 +671,7 @@ void Copter::Log_Write_Heli()
{
struct log_Heli pkt_heli = {
LOG_PACKET_HEADER_INIT(LOG_HELI_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
desired_rotor_speed : motors.get_desired_rotor_speed(),
main_rotor_speed : motors.get_main_rotor_speed(),
};
@ -706,7 +706,7 @@ void Copter::Log_Write_Precland()
const Vector3f &target_pos_ofs = precland.last_target_pos_offset();
struct log_Precland pkt = {
LOG_PACKET_HEADER_INIT(LOG_PRECLAND_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
healthy : precland.healthy(),
bf_angle_x : degrees(bf_angle.x),
bf_angle_y : degrees(bf_angle.y),

2
ArduCopter/Parameters.cpp
View File

@ -1142,7 +1142,7 @@ void Copter::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
cliSerial->printf("Bad var table\n");
hal.scheduler->panic("Bad var table");
AP_HAL::panic("Bad var table");
}
// disable centrifugal force correction, it will be enabled as part of the arming process

4
ArduCopter/compassmot.cpp
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@ -221,8 +221,8 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
current_amps_max = max(current_amps_max, battery.current_amps());
}
if (hal.scheduler->millis() - last_send_time > 500) {
last_send_time = hal.scheduler->millis();
if (AP_HAL::millis() - last_send_time > 500) {
last_send_time = AP_HAL::millis();
mavlink_msg_compassmot_status_send(chan,
channel_throttle->control_in,
battery.current_amps(),

10
ArduCopter/compat.cpp
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@ -4,13 +4,3 @@ void Copter::delay(uint32_t ms)
{
hal.scheduler->delay(ms);
}
uint32_t Copter::millis()
{
return hal.scheduler->millis();
}
uint32_t Copter::micros()
{
return hal.scheduler->micros();
}

2
ArduCopter/control_guided.cpp
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@ -513,7 +513,7 @@ void Copter::guided_limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_m
void Copter::guided_limit_init_time_and_pos()
{
// initialise start time
guided_limit.start_time = hal.scheduler->millis();
guided_limit.start_time = AP_HAL::millis();
// initialise start position from current position
guided_limit.start_pos = inertial_nav.get_position();

4
ArduCopter/ekf_check.cpp
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@ -59,9 +59,9 @@ void Copter::ekf_check()
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_BAD_VARIANCE);
// send message to gcs
if ((hal.scheduler->millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"EKF variance");
ekf_check_state.last_warn_time = hal.scheduler->millis();
ekf_check_state.last_warn_time = AP_HAL::millis();
}
failsafe_ekf_event();
}

2
ArduCopter/failsafe.cpp
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@ -36,7 +36,7 @@ void Copter::failsafe_disable()
//
void Copter::failsafe_check()
{
uint32_t tnow = hal.scheduler->micros();
uint32_t tnow = AP_HAL::micros();
if (mainLoop_count != failsafe_last_mainLoop_count) {
// the main loop is running, all is OK

4
ArduCopter/motor_test.cpp
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@ -27,7 +27,7 @@ void Copter::motor_test_output()
}
// check for test timeout
if ((hal.scheduler->millis() - motor_test_start_ms) >= motor_test_timeout_ms) {
if ((AP_HAL::millis() - motor_test_start_ms) >= motor_test_timeout_ms) {
// stop motor test
motor_test_stop();
} else {
@ -128,7 +128,7 @@ uint8_t Copter::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_s
}
// set timeout
motor_test_start_ms = hal.scheduler->millis();
motor_test_start_ms = AP_HAL::millis();
motor_test_timeout_ms = min(timeout_sec * 1000, MOTOR_TEST_TIMEOUT_MS_MAX);
// store required output