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AC_WPNav: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:05:45 +09:00 committed by Randy Mackay
parent 70d0ea9151
commit e867a06383
1 changed files with 5 additions and 5 deletions
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10
libraries/AC_WPNav/AC_WPNav.cpp
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@ -424,7 +424,7 @@ void AC_WPNav::set_wp_destination(const Vector3f& destination)
Vector3f origin;
// if waypoint controller is active use the existing position target as the origin
if ((hal.scheduler->millis() - _wp_last_update) < 1000) {
if ((AP_HAL::millis() - _wp_last_update) < 1000) {
origin = _pos_control.get_pos_target();
} else {
// if waypoint controller is not active, set origin to reasonable stopping point (using curr pos and velocity)
@ -692,7 +692,7 @@ void AC_WPNav::update_wpnav()
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f, false);
check_wp_leash_length();
_wp_last_update = hal.scheduler->millis();
_wp_last_update = AP_HAL::millis();
}
}
@ -762,7 +762,7 @@ void AC_WPNav::set_spline_destination(const Vector3f& destination, bool stopped_
Vector3f origin;
// if waypoint controller is active and copter has reached the previous waypoint use current pos target as the origin
if ((hal.scheduler->millis() - _wp_last_update) < 1000) {
if ((AP_HAL::millis() - _wp_last_update) < 1000) {
origin = _pos_control.get_pos_target();
}else{
// otherwise calculate origin from the current position and velocity
@ -779,7 +779,7 @@ void AC_WPNav::set_spline_destination(const Vector3f& destination, bool stopped_
void AC_WPNav::set_spline_origin_and_destination(const Vector3f& origin, const Vector3f& destination, bool stopped_at_start, spline_segment_end_type seg_end_type, const Vector3f& next_destination)
{
// mission is "active" if wpnav has been called recently and vehicle reached the previous waypoint
bool prev_segment_exists = (_flags.reached_destination && ((hal.scheduler->millis() - _wp_last_update) < 1000));
bool prev_segment_exists = (_flags.reached_destination && ((AP_HAL::millis() - _wp_last_update) < 1000));
float dt = _pos_control.get_dt_xy();
// check _wp_accel_cms is reasonable to avoid divide by zero
@ -906,7 +906,7 @@ void AC_WPNav::update_spline()
// run horizontal position controller
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f, false);
_wp_last_update = hal.scheduler->millis();
_wp_last_update = AP_HAL::millis();
}
}