From fe93bdbc5e7d451b725435fae500aabe043e17f0 Mon Sep 17 00:00:00 2001 From: murata Date: Sat, 18 Feb 2017 13:41:00 +0900 Subject: [PATCH] AP_IRLock: Change from magic number 0 to definition name. --- libraries/AP_IRLock/AP_IRLock_I2C.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_IRLock/AP_IRLock_I2C.cpp b/libraries/AP_IRLock/AP_IRLock_I2C.cpp index 46f1ab1d33..ce2dfef5d1 100644 --- a/libraries/AP_IRLock/AP_IRLock_I2C.cpp +++ b/libraries/AP_IRLock/AP_IRLock_I2C.cpp @@ -128,7 +128,7 @@ void AP_IRLock_I2C::read_frames(void) pixel_to_1M_plane(corner1_pix_x, corner1_pix_y, corner1_pos_x, corner1_pos_y); pixel_to_1M_plane(corner2_pix_x, corner2_pix_y, corner2_pos_x, corner2_pos_y); - if (sem->take(0)) { + if (sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { /* convert to angles */ _target_info.timestamp = AP_HAL::millis(); _target_info.pos_x = 0.5f*(corner1_pos_x+corner2_pos_x); @@ -157,7 +157,7 @@ bool AP_IRLock_I2C::update() if (!dev || !sem) { return false; } - if (sem->take(0)) { + if (sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { if (_last_update_ms != _target_info.timestamp) { new_data = true; }