aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

APM_OBC: use millis/micros/panic functions

Browse Source
This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-11-20 12:05:59 +09:00 committed by Randy Mackay
parent fe718a6ce8
commit b331ffdd91
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/APM_OBC/APM_OBC.cpp
View File

@ -140,7 +140,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
if (_state != STATE_PREFLIGHT &&
(mode == OBC_MANUAL || mode == OBC_FBW) &&
_rc_fail_time != 0 &&
(hal.scheduler->millis() - last_valid_rc_ms) > (unsigned)_rc_fail_time.get()) {
(AP_HAL::millis() - last_valid_rc_ms) > (unsigned)_rc_fail_time.get()) {
if (!_terminate) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "RC failure terminate");
_terminate.set(1);
@ -155,7 +155,7 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
hal.gpio->write(_manual_pin, mode==OBC_MANUAL);
}
uint32_t now = hal.scheduler->millis();
uint32_t now = AP_HAL::millis();
bool gcs_link_ok = ((now - last_heartbeat_ms) < 10000);
bool gps_lock_ok = ((now - gps.last_fix_time_ms()) < 3000);
@ -290,7 +290,7 @@ APM_OBC::check_altlimit(void)
}
// see if the barometer is dead
if (hal.scheduler->millis() - baro.get_last_update() > 5000) {
if (AP_HAL::millis() - baro.get_last_update() > 5000) {
// the barometer has been unresponsive for 5 seconds. See if we can switch to GPS
if (_amsl_margin_gps != -1 &&
gps.status() >= AP_GPS::GPS_OK_FIX_3D &&