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AP_DAL: fixed shadowed variable

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This commit is contained in:
Andrew Tridgell 2020-11-07 17:09:45 +11:00
parent 1bdf6173ec
commit e273f73cb4
3 changed files with 9 additions and 10 deletions
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12
libraries/AP_DAL/AP_DAL.cpp
View File

@ -128,11 +128,11 @@ void AP_DAL::log_SetOriginLLH2(const Location &loc)
#endif
}
void AP_DAL::log_writeDefaultAirSpeed2(const float airspeed)
void AP_DAL::log_writeDefaultAirSpeed2(const float aspeed)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
struct log_RWA2 pkt{
airspeed: airspeed,
airspeed: aspeed,
};
WRITE_REPLAY_BLOCK(RWA2, pkt);
#endif
@ -161,11 +161,11 @@ void AP_DAL::log_SetOriginLLH3(const Location &loc)
#endif
}
void AP_DAL::log_writeDefaultAirSpeed3(const float airspeed)
void AP_DAL::log_writeDefaultAirSpeed3(const float aspeed)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
struct log_RWA3 pkt{
airspeed: airspeed,
airspeed: aspeed,
};
WRITE_REPLAY_BLOCK(RWA3, pkt);
#endif
@ -253,8 +253,8 @@ bool AP_DAL::ekf_low_time_remaining(EKFType etype, uint8_t core)
return true, indicating that we are low on CPU. This changes the
scheduling of fusion between lanes
*/
const auto &ins = AP::ins();
if ((AP_HAL::micros() - ins.get_last_update_usec())*1.0e-6 > ins.get_loop_delta_t()*0.33) {
const auto &imu = AP::ins();
if ((AP_HAL::micros() - imu.get_last_update_usec())*1.0e-6 > imu.get_loop_delta_t()*0.33) {
_RFRF.core_slow |= mask;
} else {
_RFRF.core_slow &= ~mask;

4
libraries/AP_DAL/AP_DAL.h
View File

@ -92,11 +92,11 @@ public:
void log_event2(Event2 event);
void log_SetOriginLLH2(const Location &loc);
void log_writeDefaultAirSpeed2(float airspeed);
void log_writeDefaultAirSpeed2(float aspeed);
void log_event3(Event3 event);
void log_SetOriginLLH3(const Location &loc);
void log_writeDefaultAirSpeed3(float airspeed);
void log_writeDefaultAirSpeed3(float aspeed);
void log_writeEulerYawAngle(float yawAngle, float yawAngleErr, uint32_t timeStamp_ms, uint8_t type);
enum class StateMask {

3
libraries/AP_DAL/AP_DAL_GPS.cpp
View File

@ -27,9 +27,8 @@ void AP_DAL_GPS::start_frame()
RGPI.status = (GPS_Status)gps.status(i);
const uint32_t last_message_time_ms = gps.last_message_time_ms(i);
const Location &loc = gps.location(i);
RGPI.last_message_time_ms = last_message_time_ms;
RGPI.last_message_time_ms = gps.last_message_time_ms(i);
RGPI.lat = loc.lat;
RGPI.lng = loc.lng;
RGPI.alt = loc.alt;