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Copter: Add a unit to the update time variable

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nttedt-murata
2025-11-26 18:24:11 +11:00
committed by Peter Barker
parent ba7975e0e9
commit c87e02f64d
1 changed files with 8 additions and 8 deletions
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ArduCopter/compassmot.cpp
+8 -8
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@@ -20,8 +20,8 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
float throttle_pct_max = 0.0f; // maximum throttle reached (as a percentage 0~1.0)
float current_amps_max = 0.0f; // maximum current reached
float interference_pct[COMPASS_MAX_INSTANCES]{}; // interference as a percentage of total mag field (for reporting purposes only)
uint32_t last_run_time;
uint32_t last_send_time;
uint32_t last_run_time_ms;
uint32_t last_send_time_ms;
bool updated = false; // have we updated the compensation vector at least once
uint8_t command_ack_start = command_ack_counter;
@@ -128,19 +128,19 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
hal.util->set_soft_armed(true);
// initialise run time
last_run_time = millis();
last_send_time = millis();
last_run_time_ms = millis();
last_send_time_ms = millis();
// main run while there is no user input and the compass is healthy
while (command_ack_start == command_ack_counter && compass.healthy() && motors->armed()) {
EXPECT_DELAY_MS(5000);
// 50hz loop
if (millis() - last_run_time < 20) {
if (millis() - last_run_time_ms < 20) {
hal.scheduler->delay(5);
continue;
}
last_run_time = millis();
last_run_time_ms = millis();
// read radio input
read_radio();
@@ -217,8 +217,8 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
}
}
if (AP_HAL::millis() - last_send_time > 500) {
last_send_time = AP_HAL::millis();
if (AP_HAL::millis() - last_send_time_ms > 500) {
last_send_time_ms = AP_HAL::millis();
mavlink_msg_compassmot_status_send(gcs_chan.get_chan(),
channel_throttle->get_control_in(),
current,