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AC_Fence: use millis/micros/panic functions

This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-11-20 12:05:31 +09:00 committed by Randy Mackay
parent ea08b6115d
commit ccd03bcf60
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_Fence/AC_Fence.cpp
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@ -124,7 +124,7 @@ uint8_t AC_Fence::check_fence(float curr_alt)
// check if pilot is attempting to recover manually // check if pilot is attempting to recover manually
if (_manual_recovery_start_ms != 0) { if (_manual_recovery_start_ms != 0) {
// we ignore any fence breaches during the manual recovery period which is about 10 seconds // we ignore any fence breaches during the manual recovery period which is about 10 seconds
if ((hal.scheduler->millis() - _manual_recovery_start_ms) < AC_FENCE_MANUAL_RECOVERY_TIME_MIN) { if ((AP_HAL::millis() - _manual_recovery_start_ms) < AC_FENCE_MANUAL_RECOVERY_TIME_MIN) {
return AC_FENCE_TYPE_NONE; return AC_FENCE_TYPE_NONE;
} else { } else {
// recovery period has passed so reset manual recovery time and continue with fence breach checks // recovery period has passed so reset manual recovery time and continue with fence breach checks
@ -202,7 +202,7 @@ void AC_Fence::record_breach(uint8_t fence_type)
{ {
// if we haven't already breached a limit, update the breach time // if we haven't already breached a limit, update the breach time
if (_breached_fences == AC_FENCE_TYPE_NONE) { if (_breached_fences == AC_FENCE_TYPE_NONE) {
_breach_time = hal.scheduler->millis(); _breach_time = AP_HAL::millis();
} }
// update breach count // update breach count
@ -254,5 +254,5 @@ void AC_Fence::manual_recovery_start()
} }
// record time pilot began manual recovery // record time pilot began manual recovery
_manual_recovery_start_ms = hal.scheduler->millis(); _manual_recovery_start_ms = AP_HAL::millis();
} }