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Rover: use new scheduler API

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This commit is contained in:
Andrew Tridgell 2013-09-28 16:30:41 +10:00
parent 20b1131059
commit 19651373d0
1 changed files with 2 additions and 1 deletions
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3
APMrover2/failsafe.pde
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@ -13,11 +13,12 @@
this failsafe_check function is called from the core timer interrupt
at 1kHz.
*/
void failsafe_check(uint32_t tnow)
void failsafe_check(void *arg)
{
static uint16_t last_mainLoop_count;
static uint32_t last_timestamp;
static bool in_failsafe;
uint32_t tnow = hal.scheduler->micros();
if (mainLoop_count != last_mainLoop_count) {
// the main loop is running, all is OK