Tracker: use millis/micros/panic functions

AntennaTracker/GCS_Mavlink.cpp

@@ -69,7 +69,7 @@ void Tracker::send_attitude(mavlink_channel_t chan)
     Vector3f omega = ahrs.get_gyro();
     mavlink_msg_attitude_send(
         chan,
-        hal.scheduler->millis(),
+        AP_HAL::millis(),
         ahrs.roll,
         ahrs.pitch,
         ahrs.yaw,
@@ -85,7 +85,7 @@ void Tracker::send_location(mavlink_channel_t chan)
     if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
         fix_time = gps.last_fix_time_ms();
     } else {
-        fix_time = hal.scheduler->millis();
+        fix_time = AP_HAL::millis();
     }
     const Vector3f &vel = gps.velocity();
     mavlink_msg_global_position_int_send(
@@ -105,7 +105,7 @@ void Tracker::send_radio_out(mavlink_channel_t chan)
 {
     mavlink_msg_servo_output_raw_send(
         chan,
-        hal.scheduler->micros(),
+        AP_HAL::micros(),
         0,     // port
         hal.rcout->read(0),
         hal.rcout->read(1),
@@ -902,7 +902,7 @@ void Tracker::mavlink_delay_cb()
 
     in_mavlink_delay = true;
 
-    uint32_t tnow = hal.scheduler->millis();
+    uint32_t tnow = AP_HAL::millis();
     if (tnow - last_1hz > 1000) {
         last_1hz = tnow;
         gcs_send_message(MSG_HEARTBEAT);

AntennaTracker/Parameters.cpp

@@ -291,9 +291,9 @@ void Tracker::load_parameters(void)
         g.format_version.set_and_save(Parameters::k_format_version);
         hal.console->println("done.");
     } else {
-        uint32_t before = hal.scheduler->micros();
+        uint32_t before = AP_HAL::micros();
         // Load all auto-loaded EEPROM variables
         AP_Param::load_all();
-        hal.console->printf("load_all took %luus\n", (unsigned long)(hal.scheduler->micros() - before));
+        hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before));
     }
 }

AntennaTracker/servos.cpp

@@ -232,11 +232,11 @@ void Tracker::update_yaw_position_servo(float yaw)
     if (abs(channel_yaw.servo_out) == 18000 &&
         labs(angle_err) > margin &&
         making_progress &&
-        hal.scheduler->millis() - slew_start_ms > g.min_reverse_time*1000) {
+        AP_HAL::millis() - slew_start_ms > g.min_reverse_time*1000) {
         // we are at the limit of the servo and are not moving in the
         // right direction, so slew the other way
         new_slew_dir = -channel_yaw.servo_out / 18000;
-        slew_start_ms = hal.scheduler->millis();
+        slew_start_ms = AP_HAL::millis();
     }
 
     /*

AntennaTracker/system.cpp

@@ -181,7 +181,7 @@ void Tracker::disarm_servos()
  */
 void Tracker::prepare_servos()
 {
-    start_time_ms = hal.scheduler->millis();
+    start_time_ms = AP_HAL::millis();
     channel_yaw.radio_out = channel_yaw.radio_trim;
     channel_pitch.radio_out = channel_pitch.radio_trim;
     channel_yaw.output();

AntennaTracker/tracking.cpp

@@ -9,7 +9,7 @@
 void Tracker::update_vehicle_pos_estimate()
 {
     // calculate time since last actual position update
-    float dt = (hal.scheduler->micros() - vehicle.last_update_us) * 1.0e-6f;
+    float dt = (AP_HAL::micros() - vehicle.last_update_us) * 1.0e-6f;
 
     // if less than 5 seconds since last position update estimate the position
     if (dt < TRACKING_TIMEOUT_SEC) {
@@ -80,7 +80,7 @@ void Tracker::update_tracking(void)
 
     // do not perform any servo updates until startup delay has passed
     if (g.startup_delay > 0 &&
-        hal.scheduler->millis() - start_time_ms < g.startup_delay*1000) {
+        AP_HAL::millis() - start_time_ms < g.startup_delay*1000) {
         return;
     }
 
@@ -119,8 +119,8 @@ void Tracker::tracking_update_position(const mavlink_global_position_int_t &msg)
     vehicle.location.alt = msg.alt/10;
     vehicle.heading      = msg.hdg * 0.01f;
     vehicle.ground_speed = pythagorous2(msg.vx, msg.vy) * 0.01f;
-    vehicle.last_update_us = hal.scheduler->micros();    
+    vehicle.last_update_us = AP_HAL::micros();    
-    vehicle.last_update_ms = hal.scheduler->millis();
+    vehicle.last_update_ms = AP_HAL::millis();
 }
 
 
@@ -165,7 +165,7 @@ void Tracker::tracking_manual_control(const mavlink_manual_control_t &msg)
  */
 void Tracker::update_armed_disarmed()
 {
-    if (vehicle.last_update_ms != 0 && (hal.scheduler->millis() - vehicle.last_update_ms) < TRACKING_TIMEOUT_MS) {
+    if (vehicle.last_update_ms != 0 && (AP_HAL::millis() - vehicle.last_update_ms) < TRACKING_TIMEOUT_MS) {
         AP_Notify::flags.armed = true;
     } else {
         AP_Notify::flags.armed = false;