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Made timer unsigned

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This commit is contained in:
Jason Short 2012-01-09 20:23:37 -08:00
parent 9d1b1dba77
commit 9cbfcac802
5 changed files with 12 additions and 15 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -738,8 +738,8 @@ static int16_t event_undo_value;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Delay Mission Scripting Command // Delay Mission Scripting Command
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
static int32_t condition_value; // used in condition commands (eg delay, change alt, etc.) static int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
static int32_t condition_start; static uint32_t condition_start;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////

10
ArduCopter/commands_logic.pde
View File

@ -386,8 +386,6 @@ static bool verify_land()
old_alt = 0; old_alt = 0;
return false; return false;
} }
//Serial.printf("N, %d\n", velocity_land);
//Serial.printf("N_alt, %ld\n", next_WP.alt);
return false; return false;
} }
@ -509,7 +507,7 @@ static void do_change_alt()
{ {
Location temp = next_WP; Location temp = next_WP;
condition_start = current_loc.alt; condition_start = current_loc.alt;
condition_value = command_cond_queue.alt; //condition_value = command_cond_queue.alt;
temp.alt = command_cond_queue.alt; temp.alt = command_cond_queue.alt;
set_next_WP(&temp); set_next_WP(&temp);
} }
@ -582,9 +580,9 @@ static void do_yaw()
static bool verify_wait_delay() static bool verify_wait_delay()
{ {
//Serial.print("vwd"); //Serial.print("vwd");
if ((unsigned)(millis() - condition_start) > condition_value){ if ((unsigned)(millis() - condition_start) > (unsigned)condition_value){
//Serial.println("y"); //Serial.println("y");
condition_value = 0; condition_value = 0;
return true; return true;
} }
//Serial.println("n"); //Serial.println("n");
@ -597,13 +595,11 @@ static bool verify_change_alt()
if (condition_start < next_WP.alt){ if (condition_start < next_WP.alt){
// we are going higer // we are going higer
if(current_loc.alt > next_WP.alt){ if(current_loc.alt > next_WP.alt){
condition_value = 0;
return true; return true;
} }
}else{ }else{
// we are going lower // we are going lower
if(current_loc.alt < next_WP.alt){ if(current_loc.alt < next_WP.alt){
condition_value = 0;
return true; return true;
} }
} }

8
Tools/autotest/pysim/sim_multicopter.py
View File

@ -168,10 +168,10 @@ while True:
frame_count += 1 frame_count += 1
t = time.time() t = time.time()
if t - lastt > 1.0: if t - lastt > 1.0:
print("%.2f fps zspeed=%.2f zaccel=%.2f h=%.1f a=%.1f yaw=%.1f yawrate=%.1f" % ( #print("%.2f fps zspeed=%.2f zaccel=%.2f h=%.1f a=%.1f yaw=%.1f yawrate=%.1f" % (
frame_count/(t-lastt), # frame_count/(t-lastt),
a.velocity.z, a.accel.z, a.position.z, a.altitude, # a.velocity.z, a.accel.z, a.position.z, a.altitude,
a.yaw, a.yaw_rate)) # a.yaw, a.yaw_rate))
lastt = t lastt = t
frame_count = 0 frame_count = 0
frame_end = time.time() frame_end = time.time()

2
libraries/Desktop/support/sitl.cpp
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@ -135,7 +135,7 @@ static void sitl_fdm_input(void)
count++; count++;
if (millis() - last_report > 1000) { if (millis() - last_report > 1000) {
printf("SIM %u FPS\n", count); //printf("SIM %u FPS\n", count);
count = 0; count = 0;
last_report = millis(); last_report = millis();
} }

3
libraries/Desktop/support/sitl_adc.cpp
View File

@ -111,11 +111,12 @@ void sitl_update_adc(float roll, float pitch, float yaw,
(fabs(roll - dcm.roll_sensor/100.0) > 5.0 || (fabs(roll - dcm.roll_sensor/100.0) > 5.0 ||
fabs(pitch - dcm.pitch_sensor/100.0) > 5.0))) { fabs(pitch - dcm.pitch_sensor/100.0) > 5.0))) {
last_report = tnow; last_report = tnow;
printf("roll=%5.1f / %5.1f pitch=%5.1f / %5.1f rr=%5.2f / %5.2f pr=%5.2f / %5.2f\n", /*printf("roll=%5.1f / %5.1f pitch=%5.1f / %5.1f rr=%5.2f / %5.2f pr=%5.2f / %5.2f\n",
roll, dcm.roll_sensor/100.0, roll, dcm.roll_sensor/100.0,
pitch, dcm.pitch_sensor/100.0, pitch, dcm.pitch_sensor/100.0,
rollRate, ToDeg(omega.x), rollRate, ToDeg(omega.x),
pitchRate, ToDeg(omega.y)); pitchRate, ToDeg(omega.y));
*/
} }
} }