From 2b10e0fac030915b49f6e1dbd2a19062eeb0b0cd Mon Sep 17 00:00:00 2001 From: Caio Marcelo de Oliveira Filho Date: Fri, 20 Nov 2015 12:07:00 +0900 Subject: [PATCH] AP_Airspeed: use millis/micros/panic functions --- libraries/AP_Airspeed/AP_Airspeed.cpp | 4 ++-- libraries/AP_Airspeed/AP_Airspeed_I2C.cpp | 10 +++++----- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp index 29d0eafad2..803b4d21d8 100644 --- a/libraries/AP_Airspeed/AP_Airspeed.cpp +++ b/libraries/AP_Airspeed/AP_Airspeed.cpp @@ -236,7 +236,7 @@ void AP_Airspeed::read(void) _last_pressure = airspeed_pressure; _raw_airspeed = sqrtf(airspeed_pressure * _ratio); _airspeed = 0.7f * _airspeed + 0.3f * _raw_airspeed; - _last_update_ms = hal.scheduler->millis(); + _last_update_ms = AP_HAL::millis(); } void AP_Airspeed::setHIL(float airspeed, float diff_pressure, float temperature) @@ -244,7 +244,7 @@ void AP_Airspeed::setHIL(float airspeed, float diff_pressure, float temperature) _raw_airspeed = airspeed; _airspeed = airspeed; _last_pressure = diff_pressure; - _last_update_ms = hal.scheduler->millis(); + _last_update_ms = AP_HAL::millis(); _hil_pressure = diff_pressure; _hil_set = true; _healthy = true; diff --git a/libraries/AP_Airspeed/AP_Airspeed_I2C.cpp b/libraries/AP_Airspeed/AP_Airspeed_I2C.cpp index 0647f300ff..039218ce73 100644 --- a/libraries/AP_Airspeed/AP_Airspeed_I2C.cpp +++ b/libraries/AP_Airspeed/AP_Airspeed_I2C.cpp @@ -54,7 +54,7 @@ void AP_Airspeed_I2C::_measure(void) { _measurement_started_ms = 0; if (hal.i2c->writeRegisters(I2C_ADDRESS_MS4525DO, 0, 0, NULL) == 0) { - _measurement_started_ms = hal.scheduler->millis(); + _measurement_started_ms = AP_HAL::millis(); } } @@ -98,7 +98,7 @@ void AP_Airspeed_I2C::_collect(void) _pressure = diff_press_PSI * PSI_to_Pa; _temperature = ((200.0f * dT_raw) / 2047) - 50; - _last_sample_time_ms = hal.scheduler->millis(); + _last_sample_time_ms = AP_HAL::millis(); } // 1kHz timer @@ -114,7 +114,7 @@ void AP_Airspeed_I2C::_timer(void) i2c_sem->give(); return; } - if ((hal.scheduler->millis() - _measurement_started_ms) > 10) { + if ((AP_HAL::millis() - _measurement_started_ms) > 10) { _collect(); // start a new measurement _measure(); @@ -125,7 +125,7 @@ void AP_Airspeed_I2C::_timer(void) // return the current differential_pressure in Pascal bool AP_Airspeed_I2C::get_differential_pressure(float &pressure) { - if ((hal.scheduler->millis() - _last_sample_time_ms) > 100) { + if ((AP_HAL::millis() - _last_sample_time_ms) > 100) { return false; } pressure = _pressure; @@ -135,7 +135,7 @@ bool AP_Airspeed_I2C::get_differential_pressure(float &pressure) // return the current temperature in degrees C, if available bool AP_Airspeed_I2C::get_temperature(float &temperature) { - if ((hal.scheduler->millis() - _last_sample_time_ms) > 100) { + if ((AP_HAL::millis() - _last_sample_time_ms) > 100) { return false; } temperature = _temperature;