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AC_Avoidance: make all semaphores recursive

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the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
This commit is contained in:
Andrew Tridgell 2020-01-19 08:57:21 +11:00
parent 7bc364a338
commit 48486d259f
1 changed files with 1 additions and 1 deletions
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libraries/AC_Avoidance/AP_OAPathPlanner.h
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@ -86,7 +86,7 @@ private:
AP_Float _margin_max; // object avoidance will ignore objects more than this many meters from vehicle
// internal variables used by front end
HAL_Semaphore_Recursive _rsem; // semaphore for multi-thread use of avoidance_request and avoidance_result
HAL_Semaphore _rsem; // semaphore for multi-thread use of avoidance_request and avoidance_result
bool _thread_created; // true once background thread has been created
AP_OABendyRuler *_oabendyruler; // Bendy Ruler algorithm
AP_OADijkstra *_oadijkstra; // Dijkstra's algorithm