Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: examples use millis/micros/panic functions

This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-11-20 12:09:38 +09:00 committed by Randy Mackay
parent 86954cda0e
commit cd7cfdef91
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
View File

@ -25,7 +25,7 @@ void setup() {
compass.set_declination(ToRad(0.0f)); // set local difference between magnetic north and true north compass.set_declination(ToRad(0.0f)); // set local difference between magnetic north and true north
hal.scheduler->delay(1000); hal.scheduler->delay(1000);
timer = hal.scheduler->micros(); timer = AP_HAL::micros();
} }
void loop() void loop()
@ -34,11 +34,11 @@ void loop()
compass.accumulate(); compass.accumulate();
if((hal.scheduler->micros()- timer) > 100000L) if((AP_HAL::micros()- timer) > 100000L)
{ {
timer = hal.scheduler->micros(); timer = AP_HAL::micros();
compass.read(); compass.read();
unsigned long read_time = hal.scheduler->micros() - timer; unsigned long read_time = AP_HAL::micros() - timer;
float heading; float heading;
if (!compass.healthy()) { if (!compass.healthy()) {