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AP_NavEKF: use millis/micros/panic functions

This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-11-20 12:13:07 +09:00 committed by Randy Mackay
parent 0b2184b818
commit e3c317b96b
2 changed files with 5 additions and 5 deletions
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6
libraries/AP_NavEKF/AP_NavEKF_core.cpp
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@ -380,7 +380,7 @@ void NavEKF_core::UpdateFilter()
hal.util->perf_begin(_perf_UpdateFilter);
//get starting time for update step
imuSampleTime_ms = hal.scheduler->millis();
imuSampleTime_ms = AP_HAL::millis();
// read IMU data and convert to delta angles and velocities
readIMUData();
@ -3834,7 +3834,7 @@ void NavEKF_core::readIMUData()
}
// the imu sample time is used as a common time reference throughout the filter
imuSampleTime_ms = hal.scheduler->millis();
imuSampleTime_ms = AP_HAL::millis();
// dual accel mode - require both IMU's to be able to provide delta velocity outputs
if (ins.use_accel(0) && ins.use_accel(1) && readDeltaVelocity(0, dVelIMU1, dtDelVel1) && readDeltaVelocity(1, dVelIMU2, dtDelVel2)) {
@ -4389,7 +4389,7 @@ void NavEKF_core::InitialiseVariables()
}
// initialise time stamps
imuSampleTime_ms = hal.scheduler->millis();
imuSampleTime_ms = AP_HAL::millis();
lastHealthyMagTime_ms = imuSampleTime_ms;
TASmsecPrev = imuSampleTime_ms;
BETAmsecPrev = imuSampleTime_ms;

4
libraries/AP_NavEKF/AP_SmallEKF.cpp
View File

@ -47,7 +47,7 @@ SmallEKF::SmallEKF(const AP_AHRS_NavEKF &ahrs) :
// run a 9-state EKF used to calculate orientation
void SmallEKF::RunEKF(float delta_time, const Vector3f &delta_angles, const Vector3f &delta_velocity, const Vector3f &joint_angles)
{
imuSampleTime_ms = hal.scheduler->millis();
imuSampleTime_ms = AP_HAL::millis();
dtIMU = delta_time;
// initialise variables and constants
@ -882,7 +882,7 @@ void SmallEKF::getQuat(Quaternion &quat) const
// get filter status - true is aligned
bool SmallEKF::getStatus() const
{
float run_time = hal.scheduler->millis() - StartTime_ms;
float run_time = AP_HAL::millis() - StartTime_ms;
return YawAligned && (run_time > 30000);
}