SITL: use millis/micros/panic functions

libraries/SITL/SIM_Gimbal.cpp

@@ -50,7 +50,7 @@ Gimbal::Gimbal(const struct sitl_fdm &_fdm) :
 void Gimbal::update(void)
 {
     // calculate delta time in seconds
-    uint32_t now_us = hal.scheduler->micros();
+    uint32_t now_us = AP_HAL::micros();
 
     float delta_t = (now_us - last_update_us) * 1.0e-6f;
     last_update_us = now_us;
@@ -230,7 +230,7 @@ void Gimbal::send_report(void)
     if (!seen_heartbeat) {
         return;
     }
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
     mavlink_message_t msg;
     uint16_t len;
 
@@ -262,7 +262,7 @@ void Gimbal::send_report(void)
     /*
       send a GIMBAL_REPORT message
      */
-    uint32_t now_us = hal.scheduler->micros();
+    uint32_t now_us = AP_HAL::micros();
     if (now_us - last_report_us > reporting_period_ms*1000UL) {
         mavlink_gimbal_report_t gimbal_report;
         float delta_time = (now_us - last_report_us) * 1.0e-6f;

libraries/SITL/SIM_JSBSim.cpp

@@ -80,7 +80,7 @@ bool JSBSim::create_templates(void)
 
     FILE *f = fopen(jsbsim_script, "w");
     if (f == NULL) {
-        hal.scheduler->panic("Unable to create jsbsim script %s", jsbsim_script);
+        AP_HAL::panic("Unable to create jsbsim script %s", jsbsim_script);
     }
     fprintf(f,
 "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n"
@@ -125,7 +125,7 @@ bool JSBSim::create_templates(void)
 
     f = fopen(jsbsim_fgout, "w");
     if (f == NULL) {
-        hal.scheduler->panic("Unable to create jsbsim fgout script %s", jsbsim_fgout);
+        AP_HAL::panic("Unable to create jsbsim fgout script %s", jsbsim_fgout);
     }
     fprintf(f, "<?xml version=\"1.0\"?>\n"
             "<output name=\"127.0.0.1\" type=\"FLIGHTGEAR\" port=\"%u\" protocol=\"udp\" rate=\"1000\"/>\n",
@@ -136,7 +136,7 @@ bool JSBSim::create_templates(void)
     asprintf(&jsbsim_reset, "%s/aircraft/%s/reset.xml", autotest_dir, jsbsim_model);
     f = fopen(jsbsim_reset, "w");
     if (f == NULL) {
-        hal.scheduler->panic("Unable to create jsbsim reset script %s", jsbsim_reset);
+        AP_HAL::panic("Unable to create jsbsim reset script %s", jsbsim_reset);
     }
     float r, p, y;
     dcm.to_euler(&r, &p, &y);
@@ -177,7 +177,7 @@ bool JSBSim::start_JSBSim(void)
     int p[2];
     int devnull = open("/dev/null", O_RDWR);
     if (pipe(p) != 0) {
-        hal.scheduler->panic("Unable to create pipe");
+        AP_HAL::panic("Unable to create pipe");
     }
     pid_t child_pid = fork();
     if (child_pid == 0) {
@@ -219,14 +219,14 @@ bool JSBSim::start_JSBSim(void)
     // read startup to be sure it is running
     char c;
     if (read(jsbsim_stdout, &c, 1) != 1) {
-        hal.scheduler->panic("Unable to start JSBSim");
+        AP_HAL::panic("Unable to start JSBSim");
     }
 
     if (!expect("JSBSim Execution beginning")) {
-        hal.scheduler->panic("Failed to start JSBSim");
+        AP_HAL::panic("Failed to start JSBSim");
     }
     if (!open_control_socket()) {
-        hal.scheduler->panic("Failed to open JSBSim control socket");
+        AP_HAL::panic("Failed to open JSBSim control socket");
     }
 
     fcntl(jsbsim_stdout, F_SETFL, fcntl(jsbsim_stdout, F_GETFL, 0) | O_NONBLOCK);

libraries/SITL/SITL.cpp

@@ -117,7 +117,7 @@ void SITL::Log_Write_SIMSTATE(DataFlash_Class *DataFlash)
 
     struct log_AHRS pkt = {
         LOG_PACKET_HEADER_INIT(LOG_SIMSTATE_MSG),
-        time_us : hal.scheduler->micros64(),
+        time_us : AP_HAL::micros64(),
         roll    : (int16_t)(state.rollDeg*100),
         pitch   : (int16_t)(state.pitchDeg*100),
         yaw     : (uint16_t)(wrap_360_cd(yaw*100)),