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Tracker: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:04:37 +09:00 committed by Randy Mackay
parent ee073787c8
commit dd3fb0a689
5 changed files with 14 additions and 14 deletions
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8
AntennaTracker/GCS_Mavlink.cpp
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@ -69,7 +69,7 @@ void Tracker::send_attitude(mavlink_channel_t chan)
Vector3f omega = ahrs.get_gyro();
mavlink_msg_attitude_send(
chan,
hal.scheduler->millis(),
AP_HAL::millis(),
ahrs.roll,
ahrs.pitch,
ahrs.yaw,
@ -85,7 +85,7 @@ void Tracker::send_location(mavlink_channel_t chan)
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
fix_time = gps.last_fix_time_ms();
} else {
fix_time = hal.scheduler->millis();
fix_time = AP_HAL::millis();
}
const Vector3f &vel = gps.velocity();
mavlink_msg_global_position_int_send(
@ -105,7 +105,7 @@ void Tracker::send_radio_out(mavlink_channel_t chan)
{
mavlink_msg_servo_output_raw_send(
chan,
hal.scheduler->micros(),
AP_HAL::micros(),
0, // port
hal.rcout->read(0),
hal.rcout->read(1),
@ -902,7 +902,7 @@ void Tracker::mavlink_delay_cb()
in_mavlink_delay = true;
uint32_t tnow = hal.scheduler->millis();
uint32_t tnow = AP_HAL::millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs_send_message(MSG_HEARTBEAT);

4
AntennaTracker/Parameters.cpp
View File

@ -291,9 +291,9 @@ void Tracker::load_parameters(void)
g.format_version.set_and_save(Parameters::k_format_version);
hal.console->println("done.");
} else {
uint32_t before = hal.scheduler->micros();
uint32_t before = AP_HAL::micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
hal.console->printf("load_all took %luus\n", (unsigned long)(hal.scheduler->micros() - before));
hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before));
}
}

4
AntennaTracker/servos.cpp
View File

@ -232,11 +232,11 @@ void Tracker::update_yaw_position_servo(float yaw)
if (abs(channel_yaw.servo_out) == 18000 &&
labs(angle_err) > margin &&
making_progress &&
hal.scheduler->millis() - slew_start_ms > g.min_reverse_time*1000) {
AP_HAL::millis() - slew_start_ms > g.min_reverse_time*1000) {
// we are at the limit of the servo and are not moving in the
// right direction, so slew the other way
new_slew_dir = -channel_yaw.servo_out / 18000;
slew_start_ms = hal.scheduler->millis();
slew_start_ms = AP_HAL::millis();
}
/*

2
AntennaTracker/system.cpp
View File

@ -181,7 +181,7 @@ void Tracker::disarm_servos()
*/
void Tracker::prepare_servos()
{
start_time_ms = hal.scheduler->millis();
start_time_ms = AP_HAL::millis();
channel_yaw.radio_out = channel_yaw.radio_trim;
channel_pitch.radio_out = channel_pitch.radio_trim;
channel_yaw.output();

10
AntennaTracker/tracking.cpp
View File

@ -9,7 +9,7 @@
void Tracker::update_vehicle_pos_estimate()
{
// calculate time since last actual position update
float dt = (hal.scheduler->micros() - vehicle.last_update_us) * 1.0e-6f;
float dt = (AP_HAL::micros() - vehicle.last_update_us) * 1.0e-6f;
// if less than 5 seconds since last position update estimate the position
if (dt < TRACKING_TIMEOUT_SEC) {
@ -80,7 +80,7 @@ void Tracker::update_tracking(void)
// do not perform any servo updates until startup delay has passed
if (g.startup_delay > 0 &&
hal.scheduler->millis() - start_time_ms < g.startup_delay*1000) {
AP_HAL::millis() - start_time_ms < g.startup_delay*1000) {
return;
}
@ -119,8 +119,8 @@ void Tracker::tracking_update_position(const mavlink_global_position_int_t &msg)
vehicle.location.alt = msg.alt/10;
vehicle.heading = msg.hdg * 0.01f;
vehicle.ground_speed = pythagorous2(msg.vx, msg.vy) * 0.01f;
vehicle.last_update_us = hal.scheduler->micros();
vehicle.last_update_ms = hal.scheduler->millis();
vehicle.last_update_us = AP_HAL::micros();
vehicle.last_update_ms = AP_HAL::millis();
}
@ -165,7 +165,7 @@ void Tracker::tracking_manual_control(const mavlink_manual_control_t &msg)
*/
void Tracker::update_armed_disarmed()
{
if (vehicle.last_update_ms != 0 && (hal.scheduler->millis() - vehicle.last_update_ms) < TRACKING_TIMEOUT_MS) {
if (vehicle.last_update_ms != 0 && (AP_HAL::millis() - vehicle.last_update_ms) < TRACKING_TIMEOUT_MS) {
AP_Notify::flags.armed = true;
} else {
AP_Notify::flags.armed = false;