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AP_Baro: uses scheduler panic

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Pat Hickey 2012-12-17 16:29:05 -08:00 committed by Andrew Tridgell
parent 2c2279722b
commit d92e8045c1
1 changed files with 3 additions and 6 deletions
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9
libraries/AP_Baro/AP_Baro.cpp
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@ -46,9 +46,8 @@ void AP_Baro::calibrate()
while (ground_pressure == 0 || !healthy) { while (ground_pressure == 0 || !healthy) {
read(); // Get initial data from absolute pressure sensor read(); // Get initial data from absolute pressure sensor
if (hal.scheduler->millis() - tstart > 500) { if (hal.scheduler->millis() - tstart > 500) {
hal.console->println_P(PSTR("PANIC: AP_Baro::read unsuccessful " hal.scheduler->panic(PSTR("PANIC: AP_Baro::read unsuccessful "
"for more than 500ms in AP_Baro::calibrate [1]\r\n")); "for more than 500ms in AP_Baro::calibrate [1]\r\n"));
return;
} }
ground_pressure = get_pressure(); ground_pressure = get_pressure();
ground_temperature = get_temperature(); ground_temperature = get_temperature();
@ -63,9 +62,8 @@ void AP_Baro::calibrate()
do { do {
read(); read();
if (hal.scheduler->millis() - tstart > 500) { if (hal.scheduler->millis() - tstart > 500) {
hal.console->println_P(PSTR("PANIC: AP_Baro::read unsuccessful " hal.scheduler->panic(PSTR("PANIC: AP_Baro::read unsuccessful "
"for more than 500ms in AP_Baro::calibrate [2]\r\n")); "for more than 500ms in AP_Baro::calibrate [2]\r\n"));
return;
} }
} while (!healthy); } while (!healthy);
ground_pressure = get_pressure(); ground_pressure = get_pressure();
@ -81,9 +79,8 @@ void AP_Baro::calibrate()
do { do {
read(); read();
if (hal.scheduler->millis() - tstart > 500) { if (hal.scheduler->millis() - tstart > 500) {
hal.console->println_P(PSTR("PANIC: AP_Baro::read unsuccessful " hal.scheduler->panic(PSTR("PANIC: AP_Baro::read unsuccessful "
"for more than 500ms in AP_Baro::calibrate [3]\r\n")); "for more than 500ms in AP_Baro::calibrate [3]\r\n"));
return;
} }
} while (!healthy); } while (!healthy);
ground_pressure = (ground_pressure * 0.8) + (get_pressure() * 0.2); ground_pressure = (ground_pressure * 0.8) + (get_pressure() * 0.2);