diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
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(); } } |