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Copter: NAV_Delay variable timers to be all unsigned and labeled as _ms

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Tom Pittenger 2019-08-08 07:10:20 -07:00 committed by Tom Pittenger
parent 1e41f7cc61
commit 0983a04d52
2 changed files with 8 additions and 8 deletions
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4
ArduCopter/mode.h
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@ -444,8 +444,8 @@ private:
} loiter_to_alt;
// Delay the next navigation command
int32_t nav_delay_time_max; // used for delaying the navigation commands (eg land,takeoff etc.)
uint32_t nav_delay_time_start;
uint32_t nav_delay_time_max_ms; // used for delaying the navigation commands (eg land,takeoff etc.)
uint32_t nav_delay_time_start_ms;
// Delay Mission Scripting Command
int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)

12
ArduCopter/mode_auto.cpp
View File

@ -1360,16 +1360,16 @@ void ModeAuto::do_guided_limits(const AP_Mission::Mission_Command& cmd)
// do_nav_delay - Delay the next navigation command
void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command& cmd)
{
nav_delay_time_start = millis();
nav_delay_time_start_ms = millis();
if (cmd.content.nav_delay.seconds > 0) {
// relative delay
nav_delay_time_max = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds
nav_delay_time_max_ms = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds
} else {
// absolute delay to utc time
nav_delay_time_max = AP::rtc().get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
nav_delay_time_max_ms = AP::rtc().get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
}
gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000));
gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",nav_delay_time_max_ms/1000);
}
/********************************************************************************/
@ -1897,8 +1897,8 @@ bool ModeAuto::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
// verify_nav_delay - check if we have waited long enough
bool ModeAuto::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
{
if (millis() - nav_delay_time_start > (uint32_t)MAX(nav_delay_time_max,0)) {
nav_delay_time_max = 0;
if (millis() - nav_delay_time_start_ms > nav_delay_time_max_ms) {
nav_delay_time_max_ms = 0;
return true;
}
return false;