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AP_CompassCalibrator: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:09:25 +09:00 committed by Randy Mackay
parent 0d3fbbdd37
commit 86954cda0e
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Compass/CompassCalibrator.cpp
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@ -86,7 +86,7 @@ void CompassCalibrator::start(bool retry, bool autosave, float delay) {
_attempt = 1;
_retry = retry;
_delay_start_sec = delay;
_start_time_ms = hal.scheduler->millis();
_start_time_ms = AP_HAL::millis();
set_status(COMPASS_CAL_WAITING_TO_START);
}
@ -120,7 +120,7 @@ float CompassCalibrator::get_completion_percent() const {
}
bool CompassCalibrator::check_for_timeout() {
uint32_t tnow = hal.scheduler->millis();
uint32_t tnow = AP_HAL::millis();
if(running() && tnow - _last_sample_ms > 1000) {
_retry = false;
set_status(COMPASS_CAL_FAILED);
@ -130,7 +130,7 @@ bool CompassCalibrator::check_for_timeout() {
}
void CompassCalibrator::new_sample(const Vector3f& sample) {
_last_sample_ms = hal.scheduler->millis();
_last_sample_ms = AP_HAL::millis();
if(_status == COMPASS_CAL_WAITING_TO_START) {
set_status(COMPASS_CAL_RUNNING_STEP_ONE);
@ -241,7 +241,7 @@ bool CompassCalibrator::set_status(compass_cal_status_t status) {
return false;
}
if(_attempt == 1 && (hal.scheduler->millis()-_start_time_ms)*1.0e-3f < _delay_start_sec) {
if(_attempt == 1 && (AP_HAL::millis()-_start_time_ms)*1.0e-3f < _delay_start_sec) {
return false;
}