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Plane: use millis/micros/panic functions

This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-11-20 12:04:52 +09:00 committed by Randy Mackay
parent c7acc46d09
commit c8888329e1
7 changed files with 20 additions and 29 deletions
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8
ArduPlane/GCS_Mavlink.cpp
View File

@ -612,7 +612,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
switch (id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
plane.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = plane.millis();
plane.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = AP_HAL::millis();
plane.send_heartbeat(chan);
return true;
@ -1724,12 +1724,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
v[7] = packet.chan8_raw;
if (hal.rcin->set_overrides(v, 8)) {
plane.failsafe.last_valid_rc_ms = plane.millis();
plane.failsafe.last_valid_rc_ms = AP_HAL::millis();
}
// a RC override message is consiered to be a 'heartbeat' from
// the ground station for failsafe purposes
plane.failsafe.last_heartbeat_ms = plane.millis();
plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}
@ -1738,7 +1738,7 @@ 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 != plane.g.sysid_my_gcs) break;
plane.failsafe.last_heartbeat_ms = plane.millis();
plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}

16
ArduPlane/Log.cpp
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@ -202,7 +202,7 @@ void Plane::Log_Write_Performance()
{
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
loop_time : millis() - perf_mon_timer,
main_loop_count : mainLoop_count,
g_dt_max : G_Dt_max,
@ -227,7 +227,7 @@ bool Plane::Log_Write_Startup(uint8_t type)
{
struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
startup_type : type,
command_total : mission.num_commands()
};
@ -252,7 +252,7 @@ void Plane::Log_Write_Control_Tuning()
Vector3f accel = ins.get_accel();
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
nav_roll_cd : (int16_t)nav_roll_cd,
roll : (int16_t)ahrs.roll_sensor,
nav_pitch_cd : (int16_t)nav_pitch_cd,
@ -288,7 +288,7 @@ void Plane::Log_Write_Nav_Tuning()
{
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
yaw : (uint16_t)ahrs.yaw_sensor,
wp_distance : auto_state.wp_distance,
target_bearing_cd : (int16_t)nav_controller->target_bearing_cd(),
@ -317,7 +317,7 @@ void Plane::Log_Write_Status()
{
struct log_Status pkt = {
LOG_PACKET_HEADER_INIT(LOG_STATUS_MSG)
,time_us : hal.scheduler->micros64()
,time_us : AP_HAL::micros64()
,is_flying : is_flying()
,is_flying_probability : isFlyingProbability
,armed : hal.util->get_soft_armed()
@ -353,7 +353,7 @@ void Plane::Log_Write_Sonar()
struct log_Sonar pkt = {
LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
distance : distance,
voltage : rangefinder.voltage_mv()*0.001f,
baro_alt : barometer.get_altitude(),
@ -390,7 +390,7 @@ void Plane::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,
@ -419,7 +419,7 @@ void Plane::Log_Write_Current()
void Plane::Log_Arm_Disarm() {
struct log_Arm_Disarm pkt = {
LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
arm_state : arming.is_armed(),
arm_checks : arming.get_enabled_checks()
};

2
ArduPlane/Parameters.cpp
View File

@ -1252,7 +1252,7 @@ void Plane::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
cliSerial->printf("Bad parameter table\n");
hal.scheduler->panic("Bad parameter table");
AP_HAL::panic("Bad parameter table");
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {

5
ArduPlane/Plane.h
View File

@ -969,8 +969,6 @@ private:
void run_cli(AP_HAL::UARTDriver *port);
bool restart_landing_sequence();
void log_init();
uint32_t millis() const;
uint32_t micros() const;
void init_capabilities(void);
void dataflash_periodic(void);
uint16_t throttle_min(void) const;
@ -1017,4 +1015,7 @@ public:
extern const AP_HAL::HAL& hal;
extern Plane plane;
using AP_HAL::millis;
using AP_HAL::micros;
#endif // _PLANE_H_

4
ArduPlane/commands_logic.cpp
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@ -756,9 +756,9 @@ bool Plane::verify_altitude_wait(const AP_Mission::Mission_Command &cmd)
if (cmd.content.altitude_wait.wiggle_time != 0) {
static uint32_t last_wiggle_ms;
if (auto_state.idle_wiggle_stage == 0 &&
hal.scheduler->millis() - last_wiggle_ms > cmd.content.altitude_wait.wiggle_time*1000) {
AP_HAL::millis() - last_wiggle_ms > cmd.content.altitude_wait.wiggle_time*1000) {
auto_state.idle_wiggle_stage = 1;
last_wiggle_ms = hal.scheduler->millis();
last_wiggle_ms = AP_HAL::millis();
}
// idle_wiggle_stage is updated in set_servos_idle()
}

4
ArduPlane/is_flying.cpp
View File

@ -14,7 +14,7 @@ void Plane::update_is_flying_5Hz(void)
{
float aspeed;
bool is_flying_bool;
uint32_t now_ms = hal.scheduler->millis();
uint32_t now_ms = AP_HAL::millis();
uint32_t ground_speed_thresh_cm = (g.min_gndspeed_cm > 0) ? ((uint32_t)(g.min_gndspeed_cm*0.9f)) : 500;
bool gps_confirmed_movement = (gps.status() >= AP_GPS::GPS_OK_FIX_3D) &&
@ -146,7 +146,7 @@ void Plane::crash_detection_update(void)
return;
}
uint32_t now_ms = hal.scheduler->millis();
uint32_t now_ms = AP_HAL::millis();
bool auto_launch_detected;
bool crashed_near_land_waypoint = false;
bool crashed = false;

10
ArduPlane/system.cpp
View File

@ -775,13 +775,3 @@ bool Plane::disarm_motors(void)
return true;
}
uint32_t Plane::millis(void) const
{
return hal.scheduler->millis();
}
uint32_t Plane::micros(void) const
{
return hal.scheduler->micros();
}