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AP_Baro: Change from magic number 0 to definition name.

This commit is contained in:
murata 2017-02-18 13:28:02 +09:00 committed by Francisco Ferreira
parent af65be5aa4
commit f5c3de2a61
4 changed files with 7 additions and 7 deletions
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2
libraries/AP_Baro/AP_Baro_BMP085.cpp
View File

@ -211,7 +211,7 @@ void AP_Baro_BMP085::_calculate()
x2 = (-7357 * p) >> 16;
p += ((x1 + x2 + 3791) >> 4);
if (_sem->take(0)) {
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_pressure_filter.apply(p);
_has_sample = true;
_sem->give();

6
libraries/AP_Baro/AP_Baro_BMP280.cpp
View File

@ -66,7 +66,7 @@ AP_Baro_Backend *AP_Baro_BMP280::probe(AP_Baro &baro,
bool AP_Baro_BMP280::_init()
{
if (!_dev | !_dev->get_semaphore()->take(0)) {
if (!_dev | !_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
@ -158,7 +158,7 @@ void AP_Baro_BMP280::_update_temperature(int32_t temp_raw)
var2 = (((((temp_raw >> 4) - ((int32_t)_t1)) * ((temp_raw >> 4) - ((int32_t)_t1))) >> 12) * ((int32_t)_t3)) >> 14;
_t_fine = var1 + var2;
t = (_t_fine * 5 + 128) >> 8;
if (_sem->take(0)) {
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_temperature = ((float)t) / 100;
_sem->give();
}
@ -187,7 +187,7 @@ void AP_Baro_BMP280::_update_pressure(int32_t press_raw)
var2 = (((int64_t)_p8) * p) >> 19;
p = ((p + var1 + var2) >> 8) + (((int64_t)_p7) << 4);
if (_sem->take(0)) {
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_pressure = (float)p / 25600;
_has_sample = true;
_sem->give();

4
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -81,7 +81,7 @@ bool AP_Baro_MS56XX::_init()
return false;
}
if (!_dev->get_semaphore()->take(0)) {
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
AP_HAL::panic("PANIC: AP_Baro_MS56XX: failed to take serial semaphore for init");
}
@ -324,7 +324,7 @@ void AP_Baro_MS56XX::update()
uint32_t sD1, sD2;
uint8_t d1count, d2count;
if (!_sem->take(0)) {
if (!_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}

2
libraries/AP_Baro/AP_Baro_qflight.cpp
View File

@ -40,7 +40,7 @@ void AP_Baro_QFLIGHT::timer_update(void)
return;
}
if (!_sem->take(0)) {
if (!_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}