diff options
| -rw-r--r-- | apps/px4io/adc.c | 2 | ||||
| -rw-r--r-- | apps/px4io/controls.c | 4 | ||||
| -rw-r--r-- | apps/px4io/mixer.cpp | 2 | ||||
| -rw-r--r-- | apps/px4io/px4io.h | 4 |
4 files changed, 6 insertions, 6 deletions
diff --git a/apps/px4io/adc.c b/apps/px4io/adc.c index e06b269dc..670b8d635 100644 --- a/apps/px4io/adc.c +++ b/apps/px4io/adc.c @@ -154,7 +154,7 @@ adc_measure(unsigned channel) while (!(rSR & ADC_SR_EOC)) { /* never spin forever - this will give a bogus result though */ - if ((hrt_absolute_time() - now) > 1000) { + if (hrt_elapsed_time(&now) > 1000) { debug("adc timeout"); break; } 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; diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index 505bc8a69..77f28cd7a 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -88,7 +88,7 @@ void mixer_tick(void) { /* check that we are receiving fresh data from the FMU */ - if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { + if (hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { /* too long without FMU input, time to go to failsafe */ if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h index 22993fb52..7b4b07c2c 100644 --- a/apps/px4io/px4io.h +++ b/apps/px4io/px4io.h @@ -105,12 +105,12 @@ extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */ */ struct sys_state_s { - uint64_t rc_channels_timestamp; + volatile uint64_t rc_channels_timestamp; /** * Last FMU receive time, in microseconds since system boot */ - uint64_t fmu_data_received_time; + volatile uint64_t fmu_data_received_time; }; |