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Replay: use millis/micros/panic functions

master
Caio Marcelo de Oliveira Filho 9 years ago committed by Randy Mackay
parent
ee7e3e34c0
commit
071d8e541e
2 changed files with 21 additions and 21 deletions
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  1. 8
      Tools/Replay/LR_MsgHandler.cpp
  2. 34
      Tools/Replay/Replay.cpp

8
Tools/Replay/LR_MsgHandler.cpp
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@ -58,7 +58,7 @@ void LR_MsgHandler_ARM::process_message(uint8_t *msg) @@ -58,7 +58,7 @@ void LR_MsgHandler_ARM::process_message(uint8_t *msg)
hal.util->set_soft_armed(ArmState);
printf("Armed state: %u at %lu\n",
(unsigned)ArmState,
(unsigned long)hal.scheduler->millis());
(unsigned long)AP_HAL::millis());
}
@ -86,7 +86,7 @@ void LR_MsgHandler_ATT::process_message(uint8_t *msg) @@ -86,7 +86,7 @@ void LR_MsgHandler_ATT::process_message(uint8_t *msg)
void LR_MsgHandler_CHEK::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
check_state.time_us = hal.scheduler->micros64();
check_state.time_us = AP_HAL::micros64();
attitude_from_msg(msg, check_state.euler, "Roll", "Pitch", "Yaw");
check_state.euler *= radians(1);
location_from_msg(msg, check_state.pos, "Lat", "Lng", "Alt");
@ -114,11 +114,11 @@ void LR_MsgHandler_Event::process_message(uint8_t *msg) @@ -114,11 +114,11 @@ void LR_MsgHandler_Event::process_message(uint8_t *msg)
if (id == DATA_ARMED) {
hal.util->set_soft_armed(true);
printf("Armed at %lu\n",
(unsigned long)hal.scheduler->millis());
(unsigned long)AP_HAL::millis());
} else if (id == DATA_DISARMED) {
hal.util->set_soft_armed(false);
printf("Disarmed at %lu\n",
(unsigned long)hal.scheduler->millis());
(unsigned long)AP_HAL::millis());
}
}

34
Tools/Replay/Replay.cpp
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@ -146,7 +146,7 @@ const AP_Param::Info ReplayVehicle::var_info[] = { @@ -146,7 +146,7 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
void ReplayVehicle::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
hal.scheduler->panic("Bad parameter table");
AP_HAL::panic("Bad parameter table");
}
}
@ -697,7 +697,7 @@ void Replay::read_sensors(const char *type) @@ -697,7 +697,7 @@ void Replay::read_sensors(const char *type)
loc.lat * 1.0e-7f,
loc.lng * 1.0e-7f,
loc.alt * 0.01f,
hal.scheduler->millis()*0.001f);
AP_HAL::millis()*0.001f);
_vehicle.ahrs.set_home(loc);
_vehicle.compass.set_initial_location(loc.lat, loc.lng);
done_home_init = true;
@ -772,7 +772,7 @@ void Replay::read_sensors(const char *type) @@ -772,7 +772,7 @@ void Replay::read_sensors(const char *type)
ahrs_healthy = _vehicle.ahrs.healthy();
printf("AHRS health: %u at %lu\n",
(unsigned)ahrs_healthy,
(unsigned long)hal.scheduler->millis());
(unsigned long)AP_HAL::millis());
}
if (check_generate) {
log_check_generate();
@ -798,7 +798,7 @@ void Replay::log_check_generate(void) @@ -798,7 +798,7 @@ void Replay::log_check_generate(void)
struct log_Chek packet = {
LOG_PACKET_HEADER_INIT(LOG_CHEK_MSG),
time_us : hal.scheduler->micros64(),
time_us : AP_HAL::micros64(),
roll : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
pitch : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
yaw : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
@ -847,15 +847,15 @@ void Replay::loop() @@ -847,15 +847,15 @@ void Replay::loop()
while (true) {
char type[5];
if (arm_time_ms >= 0 && hal.scheduler->millis() > (uint32_t)arm_time_ms) {
if (arm_time_ms >= 0 && AP_HAL::millis() > (uint32_t)arm_time_ms) {
if (!hal.util->get_soft_armed()) {
hal.util->set_soft_armed(true);
::printf("Arming at %u ms\n", (unsigned)hal.scheduler->millis());
::printf("Arming at %u ms\n", (unsigned)AP_HAL::millis());
}
}
if (!logreader.update(type)) {
::printf("End of log at %.1f seconds\n", hal.scheduler->millis()*0.001f);
::printf("End of log at %.1f seconds\n", AP_HAL::millis()*0.001f);
fclose(plotf);
break;
}
@ -906,7 +906,7 @@ void Replay::loop() @@ -906,7 +906,7 @@ void Replay::loop()
if (temp < 0.0f) temp = temp + 360.0f;
fprintf(plotf, "%.3f %.1f %.1f %.1f %.2f %.1f %.1f %.1f %.2f %.2f %.2f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.2f %.2f %.2f %.2f %.2f %.2f\n",
hal.scheduler->millis() * 0.001f,
AP_HAL::millis() * 0.001f,
logreader.get_sim_attitude().x,
logreader.get_sim_attitude().y,
logreader.get_sim_attitude().z,
@ -933,7 +933,7 @@ void Replay::loop() @@ -933,7 +933,7 @@ void Replay::loop()
ekf_relpos.y,
-ekf_relpos.z);
fprintf(plotf2, "%.3f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f\n",
hal.scheduler->millis() * 0.001f,
AP_HAL::millis() * 0.001f,
degrees(ekf_euler.x),
degrees(ekf_euler.y),
temp,
@ -974,8 +974,8 @@ void Replay::loop() @@ -974,8 +974,8 @@ void Replay::loop()
// print EKF1 data packet
fprintf(ekf1f, "%.3f %u %d %d %u %.2f %.2f %.2f %.2f %.2f %.2f %.0f %.0f %.0f\n",
hal.scheduler->millis() * 0.001f,
hal.scheduler->millis(),
AP_HAL::millis() * 0.001f,
AP_HAL::millis(),
roll,
pitch,
yaw,
@ -1004,8 +1004,8 @@ void Replay::loop() @@ -1004,8 +1004,8 @@ void Replay::loop()
// print EKF2 data packet
fprintf(ekf2f, "%.3f %d %d %d %d %d %d %d %d %d %d %d %d\n",
hal.scheduler->millis() * 0.001f,
hal.scheduler->millis(),
AP_HAL::millis() * 0.001f,
AP_HAL::millis(),
accWeight,
acc1,
acc2,
@ -1032,8 +1032,8 @@ void Replay::loop() @@ -1032,8 +1032,8 @@ void Replay::loop()
// print EKF3 data packet
fprintf(ekf3f, "%.3f %d %d %d %d %d %d %d %d %d %d %d\n",
hal.scheduler->millis() * 0.001f,
hal.scheduler->millis(),
AP_HAL::millis() * 0.001f,
AP_HAL::millis(),
innovVN,
innovVE,
innovVD,
@ -1058,8 +1058,8 @@ void Replay::loop() @@ -1058,8 +1058,8 @@ void Replay::loop()
// print EKF4 data packet
fprintf(ekf4f, "%.3f %u %d %d %d %d %d %d %d %d %d %d\n",
hal.scheduler->millis() * 0.001f,
(unsigned)hal.scheduler->millis(),
AP_HAL::millis() * 0.001f,
(unsigned)AP_HAL::millis(),
(int)sqrtvarV,
(int)sqrtvarP,
(int)sqrtvarH,

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