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AP_Baro: remove usage of hrt_absolute_time()

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use a single time base in all code
This commit is contained in:
Andrew Tridgell 2014-08-20 08:41:15 +10:00
parent a14f8dbd0a
commit 5280d8936d
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_Baro/AP_Baro_PX4.cpp
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@ -46,7 +46,7 @@ uint8_t AP_Baro_PX4::read(void)
_accumulate();
// consider the baro healthy if we got a reading in the last 0.2s
_flags.healthy = (hrt_absolute_time() - _last_timestamp < 200000);
_flags.healthy = (hal.scheduler->micros64() - _last_timestamp < 200000);
if (!_flags.healthy || _sum_count == 0) {
return _flags.healthy;
}

2
libraries/AP_Baro/AP_Baro_VRBRAIN.cpp
View File

@ -46,7 +46,7 @@ uint8_t AP_Baro_VRBRAIN::read(void)
_accumulate();
// consider the baro healthy if we got a reading in the last 0.2s
_flags.healthy = (hrt_absolute_time() - _last_timestamp < 200000);
_flags.healthy = (hal.scheduler->micros64() - _last_timestamp < 200000);
if (!_flags.healthy || _sum_count == 0) {
return _flags.healthy;
}