From ea08b6115d5c0207f42e0ad3b914625f81e34bc5 Mon Sep 17 00:00:00 2001
From: Caio Marcelo de Oliveira Filho <caio.oliveira@intel.com>
Date: Fri, 20 Nov 2015 12:05:22 +0900
Subject: [PATCH] AC_AttControl: use millis/micros/panic functions

---
 libraries/AC_AttitudeControl/AC_PosControl.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 4ba4f864ee..88db923304 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -310,14 +310,14 @@ void AC_PosControl::init_takeoff()
 // is_active_z - returns true if the z-axis position controller has been run very recently
 bool AC_PosControl::is_active_z() const
 {
-    return ((hal.scheduler->millis() - _last_update_z_ms) <= POSCONTROL_ACTIVE_TIMEOUT_MS);
+    return ((AP_HAL::millis() - _last_update_z_ms) <= POSCONTROL_ACTIVE_TIMEOUT_MS);
 }
 
 /// update_z_controller - fly to altitude in cm above home
 void AC_PosControl::update_z_controller()
 {
     // check time since last cast
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
     if (now - _last_update_z_ms > POSCONTROL_ACTIVE_TIMEOUT_MS) {
         _flags.reset_rate_to_accel_z = true;
         _flags.reset_accel_to_throttle = true;
@@ -612,7 +612,7 @@ float AC_PosControl::get_distance_to_target() const
 // is_active_xy - returns true if the xy position controller has been run very recently
 bool AC_PosControl::is_active_xy() const
 {
-    return ((hal.scheduler->millis() - _last_update_xy_ms) <= POSCONTROL_ACTIVE_TIMEOUT_MS);
+    return ((AP_HAL::millis() - _last_update_xy_ms) <= POSCONTROL_ACTIVE_TIMEOUT_MS);
 }
 
 /// init_xy_controller - initialise the xy controller
@@ -642,7 +642,7 @@ void AC_PosControl::init_xy_controller(bool reset_I)
 void AC_PosControl::update_xy_controller(xy_mode mode, float ekfNavVelGainScaler, bool use_althold_lean_angle)
 {
     // compute dt
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
     float dt = (now - _last_update_xy_ms) / 1000.0f;
     _last_update_xy_ms = now;
 
@@ -669,7 +669,7 @@ void AC_PosControl::update_xy_controller(xy_mode mode, float ekfNavVelGainScaler
 
 float AC_PosControl::time_since_last_xy_update() const
 {
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
     return (now - _last_update_xy_ms)*0.001f;
 }
 
@@ -706,7 +706,7 @@ void AC_PosControl::init_vel_controller_xyz()
 void AC_PosControl::update_vel_controller_xyz(float ekfNavVelGainScaler)
 {
     // capture time since last iteration
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
     float dt = (now - _last_update_xy_ms)*0.001f;
 
     // call xy controller