diff options
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 2 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 10 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 4 | ||||
| -rwxr-xr-x | src/platforms/ros/perf_counter.cpp | 4 |
4 files changed, 9 insertions, 11 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 160dc5cad..1c43e7ebf 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -38,7 +38,7 @@ * Authors and acknowledgements in header. */ -#include "../ecl.h" +#include <ecl/ecl.h> #include "ecl_roll_controller.h" #include <stdint.h> #include <float.h> diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index f3379b245..4dd409283 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -45,7 +45,7 @@ #include <ecl/ecl.h> #include <mathlib/mathlib.h> #include <systemlib/err.h> -#include <drivers/drv_hrt.h> +#include <ecl/ecl.h> ECL_YawController::ECL_YawController() : ECL_Controller("yaw"), @@ -70,9 +70,9 @@ float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data default: static hrt_abstime last_print = 0; - if (hrt_elapsed_time(&last_print) > 5e6) { + if (ecl_elapsed_time(&last_print) > 5e6) { warnx("invalid param setting FW_YCO_METHOD"); - last_print = hrt_absolute_time(); + last_print = ecl_absolute_time(); } } @@ -89,9 +89,9 @@ float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data default: static hrt_abstime last_print = 0; - if (hrt_elapsed_time(&last_print) > 5e6) { + if (ecl_elapsed_time(&last_print) > 5e6) { warnx("invalid param setting FW_YCO_METHOD"); - last_print = hrt_absolute_time(); + last_print = ecl_absolute_time(); } } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index c6f967af4..abdf518c5 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -441,7 +441,7 @@ struct log_ENCD_s { }; /* --- AIR SPEED SENSORS - DIFF. PRESSURE --- */ -#define LOG_AIR1_MSG 40 +#define LOG_AIR1_MSG 41 /* --- VTOL - VTOL VEHICLE STATUS */ #define LOG_VTOL_MSG 42 @@ -456,7 +456,7 @@ struct log_TSYN_s { }; /* --- MACS - MULTIROTOR ATTITUDE CONTROLLER STATUS */ -#define LOG_MACS_MSG 42 +#define LOG_MACS_MSG 44 struct log_MACS_s { float roll_rate_integ; float pitch_rate_integ; diff --git a/src/platforms/ros/perf_counter.cpp b/src/platforms/ros/perf_counter.cpp index a71801397..8e9670737 100755 --- a/src/platforms/ros/perf_counter.cpp +++ b/src/platforms/ros/perf_counter.cpp @@ -170,7 +170,5 @@ void perf_reset_all(void) */ uint64_t perf_event_count(perf_counter_t handle) { - + return 0; } - - |