Plane: use millis/micros/panic functions

ArduPlane/GCS_Mavlink.cpp

@@ -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;
     }
 

ArduPlane/Log.cpp

@@ -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()      
     };

ArduPlane/Parameters.cpp

@@ -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) {

ArduPlane/Plane.h

@@ -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_

ArduPlane/commands_logic.cpp

@@ -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()
     }

ArduPlane/is_flying.cpp

@@ -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;

ArduPlane/system.cpp

@@ -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();
-}