From ea55527bbb2a0a14b099e9c4d8c69faf7a623196 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Sun, 29 Dec 2013 14:50:26 +0100 Subject: Waypoints and missionlib: lot's of cleanup --- src/modules/mavlink/mavlink.c | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) (limited to 'src/modules/mavlink/mavlink.c') 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(); -- cgit v1.2.3