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| author | px4dev <px4@purgatory.org> | 2013-02-24 11:42:34 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-02-24 11:42:34 -0800 |
| commit | f245d6b1a7edaa3b403007b704b4d54ecb7f3737 (patch) | |
| tree | 57bf7266fa83e7327099763e402c2cd0d9f458e7 /apps/px4io/controls.c | |
| parent | 923a7cc505971ab6d04115d18108152f62d46283 (diff) | |
| download | px4-firmware-f245d6b1a7edaa3b403007b704b4d54ecb7f3737.tar.gz px4-firmware-f245d6b1a7edaa3b403007b704b4d54ecb7f3737.tar.bz2 px4-firmware-f245d6b1a7edaa3b403007b704b4d54ecb7f3737.zip | |
Use hrt_elapsed_time() in cases where we can't be sure the timestamp won't change under us.
Diffstat (limited to 'apps/px4io/controls.c')
| -rw-r--r-- | apps/px4io/controls.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c index cad368ae4..6b5164756 100644 --- a/apps/px4io/controls.c +++ b/apps/px4io/controls.c @@ -218,7 +218,7 @@ controls_tick() { * If we haven't seen any new control data in 200ms, assume we * have lost input. */ - if ((hrt_absolute_time() - system_state.rc_channels_timestamp) > 200000) { + if (hrt_elapsed_time(&system_state.rc_channels_timestamp) > 200000) { rc_input_lost = true; /* clear the input-kind flags here */ @@ -294,7 +294,7 @@ ppm_input(uint16_t *values, uint16_t *num_values) * If we have received a new PPM frame within the last 200ms, accept it * and then invalidate it. */ - if ((hrt_absolute_time() - ppm_last_valid_decode) < 200000) { + if (hrt_elapsed_time(&ppm_last_valid_decode) < 200000) { /* PPM data exists, copy it */ *num_values = ppm_decoded_channels; |