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| author | Julian Oes <julian@oes.ch> | 2013-12-29 14:50:26 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-12-29 14:50:26 +0100 |
| commit | ea55527bbb2a0a14b099e9c4d8c69faf7a623196 (patch) | |
| tree | a9adab6d1ec1c4107ca3efffeee64c06ba88a88a /src/modules/mavlink/mavlink.c | |
| parent | c1e50b8a1f9669d27e80ebec2d709533db57777f (diff) | |
| download | px4-firmware-ea55527bbb2a0a14b099e9c4d8c69faf7a623196.tar.gz px4-firmware-ea55527bbb2a0a14b099e9c4d8c69faf7a623196.tar.bz2 px4-firmware-ea55527bbb2a0a14b099e9c4d8c69faf7a623196.zip | |
Waypoints and missionlib: lot's of cleanup
Diffstat (limited to 'src/modules/mavlink/mavlink.c')
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 9 |
1 files changed, 4 insertions, 5 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index eec6c567c..4c38cf35a 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -68,7 +68,6 @@ #include "waypoints.h" #include "orb_topics.h" -#include "missionlib.h" #include "mavlink_hil.h" #include "util.h" #include "waypoints.h" @@ -710,25 +709,25 @@ int mavlink_thread_main(int argc, char *argv[]) } } - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); /* sleep quarter the time */ usleep(25000); /* check if waypoint has been reached against the last positions */ - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); /* sleep quarter the time */ usleep(25000); /* send parameters at 20 Hz (if queued for sending) */ mavlink_pm_queued_send(); - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); /* sleep quarter the time */ usleep(25000); - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); if (baudrate > 57600) { mavlink_pm_queued_send(); |