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This commit is contained in:
Antoine Drouin
2007-01-27 00:38:29 +00:00
parent 2ceaf754a3
commit cce9620f60
3 changed files with 5 additions and 5 deletions
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sw/airborne/avr/sys_time_hw.h
+1 -1
View File
@@ -101,7 +101,7 @@ extern volatile uint8_t tmr2_ov_cnt;
extern volatile bool_t tmr2_overflow;
#endif
#define TICKS_PER_SEC (CLOCK * 1e6 / 1024 * 256)
#define TICKS_PER_SEC (CLOCK * 1e6 / 1024)
#if CLOCK == 8
static inline bool_t sys_time_periodic( void ) {
sw/airborne/infrared.c
+1 -1
View File
@@ -198,7 +198,7 @@ uint8_t calib_status = NO_CALIB;
void ground_calibrate( bool_t triggered ) {
switch (calib_status) {
case NO_CALIB:
if (cpu_time < MAX_DELAY_FOR_CALIBRATION && pprz_mode == PPRZ_MODE_AUTO1 ) {
if (cpu_time_sec < MAX_DELAY_FOR_CALIBRATION && pprz_mode == PPRZ_MODE_AUTO1 ) {
calib_status = WAITING_CALIB_CONTRAST;
DOWNLINK_SEND_CALIB_START();
}
sw/airborne/main_ap.c
+3 -3
View File
@@ -300,7 +300,7 @@ static void navigation_task( void ) {
static uint8_t last_pprz_mode;
/** Test if we lost the GPS */
if (!GpsFixValid() ||
(cpu_time - last_gps_msg_t > FAILSAFE_DELAY_WITHOUT_GPS)) {
(cpu_time_sec - last_gps_msg_t > FAILSAFE_DELAY_WITHOUT_GPS)) {
/** If aircraft is launch and is in autonomus mode, go into
PPRZ_MODE_GPS_OUT_OF_ORDER mode (Failsafe). */
if (launch && (pprz_mode == PPRZ_MODE_AUTO2 ||
@@ -417,7 +417,7 @@ void periodic_task_ap( void ) {
if (!_1Hz) {
if (estimator_flight_time) estimator_flight_time++;
cpu_time++;
cpu_time_sec++;
stage_time_ds = (int16_t)(stage_time_ds+.5);
stage_time++;
block_time++;
@@ -450,7 +450,7 @@ void periodic_task_ap( void ) {
estimator_hspeed_mod > MIN_SPEED_FOR_TAKEOFF) {
estimator_flight_time = 1;
launch = TRUE; /* Not set in non auto launch */
DOWNLINK_SEND_TAKEOFF(&cpu_time);
DOWNLINK_SEND_TAKEOFF(&cpu_time_sec);
}
break;