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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 #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) #if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
struct log_RWA2 pkt{ struct log_RWA2 pkt{
airspeed: airspeed, airspeed: aspeed,
}; };
WRITE_REPLAY_BLOCK(RWA2, pkt); WRITE_REPLAY_BLOCK(RWA2, pkt);
#endif #endif
@ -161,11 +161,11 @@ void AP_DAL::log_SetOriginLLH3(const Location &loc)
#endif #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) #if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
struct log_RWA3 pkt{ struct log_RWA3 pkt{
airspeed: airspeed, airspeed: aspeed,
}; };
WRITE_REPLAY_BLOCK(RWA3, pkt); WRITE_REPLAY_BLOCK(RWA3, pkt);
#endif #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 return true, indicating that we are low on CPU. This changes the
scheduling of fusion between lanes scheduling of fusion between lanes
*/ */
const auto &ins = AP::ins(); const auto &imu = AP::ins();
if ((AP_HAL::micros() - ins.get_last_update_usec())*1.0e-6 > ins.get_loop_delta_t()*0.33) { if ((AP_HAL::micros() - imu.get_last_update_usec())*1.0e-6 > imu.get_loop_delta_t()*0.33) {
_RFRF.core_slow |= mask; _RFRF.core_slow |= mask;
} else { } else {
_RFRF.core_slow &= ~mask; _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_event2(Event2 event);
void log_SetOriginLLH2(const Location &loc); void log_SetOriginLLH2(const Location &loc);
void log_writeDefaultAirSpeed2(float airspeed); void log_writeDefaultAirSpeed2(float aspeed);
void log_event3(Event3 event); void log_event3(Event3 event);
void log_SetOriginLLH3(const Location &loc); 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); void log_writeEulerYawAngle(float yawAngle, float yawAngleErr, uint32_t timeStamp_ms, uint8_t type);
enum class StateMask { 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); 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); 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.lat = loc.lat;
RGPI.lng = loc.lng; RGPI.lng = loc.lng;
RGPI.alt = loc.alt; RGPI.alt = loc.alt;