PID: use millis/micros/panic functions

9 years ago · e839892524
1 changed files with 1 additions and 1 deletions
--- a/libraries/PID/PID.cpp
+++ b/libraries/PID/PID.cpp
@ -21,7 +21,7 @@ const AP_Param::GroupInfo PID::var_info[] = {
				@@ -21,7 +21,7 @@ const AP_Param::GroupInfo PID::var_info[] = {

 float PID::get_pid(float error, float scaler)
 {
-    uint32_t tnow = hal.scheduler->millis();
+    uint32_t tnow = AP_HAL::millis();
    uint32_t dt = tnow - _last_t;
    float output            = 0;
    float delta_time;