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AP_IRLock: Change from magic number 0 to definition name.

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This commit is contained in:
murata 2017-02-18 13:41:00 +09:00 committed by Francisco Ferreira
parent eb6cdd27fb
commit fe93bdbc5e
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_IRLock/AP_IRLock_I2C.cpp
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@ -128,7 +128,7 @@ void AP_IRLock_I2C::read_frames(void)
pixel_to_1M_plane(corner1_pix_x, corner1_pix_y, corner1_pos_x, corner1_pos_y); pixel_to_1M_plane(corner1_pix_x, corner1_pix_y, corner1_pos_x, corner1_pos_y);
pixel_to_1M_plane(corner2_pix_x, corner2_pix_y, corner2_pos_x, corner2_pos_y); pixel_to_1M_plane(corner2_pix_x, corner2_pix_y, corner2_pos_x, corner2_pos_y);
if (sem->take(0)) { if (sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
/* convert to angles */ /* convert to angles */
_target_info.timestamp = AP_HAL::millis(); _target_info.timestamp = AP_HAL::millis();
_target_info.pos_x = 0.5f*(corner1_pos_x+corner2_pos_x); _target_info.pos_x = 0.5f*(corner1_pos_x+corner2_pos_x);
@ -157,7 +157,7 @@ bool AP_IRLock_I2C::update()
if (!dev || !sem) { if (!dev || !sem) {
return false; return false;
} }
if (sem->take(0)) { if (sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (_last_update_ms != _target_info.timestamp) { if (_last_update_ms != _target_info.timestamp) {
new_data = true; new_data = true;
} }