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PID: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:15:45 +09:00 committed by Randy Mackay
parent a096c2b72c
commit e839892524
1 changed files with 1 additions and 1 deletions
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2
libraries/PID/PID.cpp
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@ -21,7 +21,7 @@ const AP_Param::GroupInfo PID::var_info[] = {
float PID::get_pid(float error, float scaler) float PID::get_pid(float error, float scaler)
{ {
uint32_t tnow = hal.scheduler->millis(); uint32_t tnow = AP_HAL::millis();
uint32_t dt = tnow - _last_t; uint32_t dt = tnow - _last_t;
float output = 0; float output = 0;
float delta_time; float delta_time;