From 48486d259ffc1fe4d5865994cfd75adb837e38b7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 19 Jan 2020 08:57:21 +1100 Subject: [PATCH] AC_Avoidance: make all semaphores recursive the cost is very similar and this prevents an easy coding error which can occur on less used code paths --- libraries/AC_Avoidance/AP_OAPathPlanner.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.h b/libraries/AC_Avoidance/AP_OAPathPlanner.h index 11ad9dc66d..318dcdc130 100644 --- a/libraries/AC_Avoidance/AP_OAPathPlanner.h +++ b/libraries/AC_Avoidance/AP_OAPathPlanner.h @@ -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