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Sub: Move from millis() to AP_HAL::millis()

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AP_HAL::millis() is a more common style around the rest of the project

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2018-04-13 20:05:16 -03:00 committed by Jacob Walser
parent a856f747aa
commit 4de371743e
6 changed files with 21 additions and 22 deletions
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2
ArduSub/Attitude.cpp
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@ -133,7 +133,7 @@ float Sub::get_surface_tracking_climb_rate(int16_t target_rate, float current_al
float velocity_correction;
float current_alt = inertial_nav.get_altitude();
uint32_t now = millis();
uint32_t now = AP_HAL::millis();
// reset target altitude if this controller has just been engaged
if (now - last_call_ms > RANGEFINDER_TIMEOUT_MS) {

2
ArduSub/GCS_Mavlink.cpp
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@ -1285,7 +1285,7 @@ void Sub::mavlink_delay_cb()
DataFlash.EnableWrites(false);
uint32_t tnow = millis();
uint32_t tnow = AP_HAL::millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs_send_heartbeat();

1
ArduSub/Sub.h
View File

@ -724,5 +724,4 @@ public:
extern const AP_HAL::HAL& hal;
extern Sub sub;
using AP_HAL::millis;
using AP_HAL::micros;

20
ArduSub/commands_logic.cpp
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@ -519,7 +519,7 @@ void Sub::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
// do_nav_delay - Delay the next navigation command
void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd)
{
nav_delay_time_start = millis();
nav_delay_time_start = AP_HAL::millis();
if (cmd.content.nav_delay.seconds > 0) {
// relative delay
@ -580,11 +580,11 @@ bool Sub::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// start timer if necessary
if (loiter_time == 0) {
loiter_time = millis();
loiter_time = AP_HAL::millis();
}
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
if (((AP_HAL::millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
}
@ -648,11 +648,11 @@ bool Sub::verify_loiter_time()
// start our loiter timer
if (loiter_time == 0) {
loiter_time = millis();
loiter_time = AP_HAL::millis();
}
// check if loiter timer has run out
return (((millis() - loiter_time) / 1000) >= loiter_time_max);
return (((AP_HAL::millis() - loiter_time) / 1000) >= loiter_time_max);
}
// verify_circle - check if we have circled the point enough
@ -695,11 +695,11 @@ bool Sub::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
// start timer if necessary
if (loiter_time == 0) {
loiter_time = millis();
loiter_time = AP_HAL::millis();
}
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
if (((AP_HAL::millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
}
@ -724,7 +724,7 @@ bool Sub::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
// verify_nav_delay - check if we have waited long enough
bool Sub::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
{
if (millis() - nav_delay_time_start > (uint32_t)MAX(nav_delay_time_max,0)) {
if (AP_HAL::millis() - nav_delay_time_start > (uint32_t)MAX(nav_delay_time_max, 0)) {
nav_delay_time_max = 0;
return true;
}
@ -737,7 +737,7 @@ bool Sub::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
void Sub::do_wait_delay(const AP_Mission::Mission_Command& cmd)
{
condition_start = millis();
condition_start = AP_HAL::millis();
condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
}
@ -762,7 +762,7 @@ void Sub::do_yaw(const AP_Mission::Mission_Command& cmd)
bool Sub::verify_wait_delay()
{
if (millis() - condition_start > (uint32_t)MAX(condition_value,0)) {
if (AP_HAL::millis() - condition_start > (uint32_t)MAX(condition_value, 0)) {
condition_value = 0;
return true;
}

16
ArduSub/control_guided.cpp
View File

@ -125,7 +125,7 @@ void Sub::guided_angle_control_start()
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
// initialise targets
guided_angle_state.update_time_ms = millis();
guided_angle_state.update_time_ms = AP_HAL::millis();
guided_angle_state.roll_cd = ahrs.roll_sensor;
guided_angle_state.pitch_cd = ahrs.pitch_sensor;
guided_angle_state.yaw_cd = ahrs.yaw_sensor;
@ -203,7 +203,7 @@ void Sub::guided_set_velocity(const Vector3f& velocity)
guided_vel_control_start();
}
vel_update_time_ms = millis();
vel_update_time_ms = AP_HAL::millis();
// set position controller velocity target
pos_control.set_desired_velocity(velocity);
@ -227,7 +227,7 @@ bool Sub::guided_set_destination_posvel(const Vector3f& destination, const Vecto
}
#endif
posvel_update_time_ms = millis();
posvel_update_time_ms = AP_HAL::millis();
posvel_pos_target_cm = destination;
posvel_vel_target_cms = velocity;
@ -253,7 +253,7 @@ void Sub::guided_set_angle(const Quaternion &q, float climb_rate_cms)
guided_angle_state.yaw_cd = wrap_180_cd(ToDeg(guided_angle_state.yaw_cd) * 100.0f);
guided_angle_state.climb_rate_cms = climb_rate_cms;
guided_angle_state.update_time_ms = millis();
guided_angle_state.update_time_ms = AP_HAL::millis();
}
// guided_run - runs the guided controller
@ -363,7 +363,7 @@ void Sub::guided_vel_control_run()
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// set velocity to zero if no updates received for 3 seconds
uint32_t tnow = millis();
uint32_t tnow = AP_HAL::millis();
if (tnow - vel_update_time_ms > GUIDED_POSVEL_TIMEOUT_MS && !pos_control.get_desired_velocity().is_zero()) {
pos_control.set_desired_velocity(Vector3f(0,0,0));
}
@ -419,7 +419,7 @@ void Sub::guided_posvel_control_run()
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// set velocity to zero if no updates received for 3 seconds
uint32_t tnow = millis();
uint32_t tnow = AP_HAL::millis();
if (tnow - posvel_update_time_ms > GUIDED_POSVEL_TIMEOUT_MS && !posvel_vel_target_cms.is_zero()) {
posvel_vel_target_cms.zero();
}
@ -493,7 +493,7 @@ void Sub::guided_angle_control_run()
float climb_rate_cms = constrain_float(guided_angle_state.climb_rate_cms, -fabsf(wp_nav.get_speed_down()), wp_nav.get_speed_up());
// check for timeout - set lean angles and climb rate to zero if no updates received for 3 seconds
uint32_t tnow = millis();
uint32_t tnow = AP_HAL::millis();
if (tnow - guided_angle_state.update_time_ms > GUIDED_ATTITUDE_TIMEOUT_MS) {
roll_in = 0.0f;
pitch_in = 0.0f;
@ -547,7 +547,7 @@ void Sub::guided_limit_init_time_and_pos()
bool Sub::guided_limit_check()
{
// check if we have passed the timeout
if ((guided_limit.timeout_ms > 0) && (millis() - guided_limit.start_time >= guided_limit.timeout_ms)) {
if ((guided_limit.timeout_ms > 0) && (AP_HAL::millis() - guided_limit.start_time >= guided_limit.timeout_ms)) {
return true;
}

2
ArduSub/failsafe.cpp
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@ -441,7 +441,7 @@ void Sub::failsafe_terrain_check()
// set terrain data status (found or not found)
void Sub::failsafe_terrain_set_status(bool data_ok)
{
uint32_t now = millis();
uint32_t now = AP_HAL::millis();
// record time of first and latest failures (i.e. duration of failures)
if (!data_ok) {