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uavcan esc: use time literals for timeout checks.

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-08-08 17:37:39 +02:00
committed by Beat Küng
parent 2eb9fb9ed6
commit aae16cc594
1 changed files with 4 additions and 2 deletions
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src/drivers/uavcan/actuators/esc.cpp
+4 -2
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@@ -43,6 +43,8 @@
#define MOTOR_BIT(x) (1<<(x)) #define MOTOR_BIT(x) (1<<(x))
using namespace time_literals;
UavcanEscController::UavcanEscController(uavcan::INode &node) : UavcanEscController::UavcanEscController(uavcan::INode &node) :
_node(node), _node(node),
_uavcan_pub_raw_cmd(node), _uavcan_pub_raw_cmd(node),
@@ -234,11 +236,11 @@ void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent &)
uint8_t UavcanEscController::check_escs_status() uint8_t UavcanEscController::check_escs_status()
{ {
int esc_status_flags = 0; int esc_status_flags = 0;
hrt_abstime now = hrt_absolute_time();
for (int index = 0; index < esc_status_s::CONNECTED_ESC_MAX; index++) { for (int index = 0; index < esc_status_s::CONNECTED_ESC_MAX; index++) {
if (_esc_status.esc[index].timestamp > 0 && hrt_elapsed_time(&_esc_status.esc[index].timestamp) < 800000.0f) { if (_esc_status.esc[index].timestamp > 0 && now - _esc_status.esc[index].timestamp < 800_ms) {
esc_status_flags |= (1 << index); esc_status_flags |= (1 << index);
} }