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Fix incorrect time types
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parent
409ba6cc7e
commit
fc7c073b79
2 changed files with 5 additions and 5 deletions
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@ -1241,9 +1241,9 @@ static navigationFSMState_t navSetNewFSMState(navigationFSMState_t newState)
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static void navProcessFSMEvents(navigationFSMEvent_t injectedEvent)
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static void navProcessFSMEvents(navigationFSMEvent_t injectedEvent)
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{
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{
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const uint32_t currentMillis = millis();
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const timeMs_t currentMillis = millis();
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navigationFSMState_t previousState;
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navigationFSMState_t previousState;
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static uint32_t lastStateProcessTime = 0;
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static timeMs_t lastStateProcessTime = 0;
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/* If timeout event defined and timeout reached - switch state */
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/* If timeout event defined and timeout reached - switch state */
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if ((navFSM[posControl.navState].timeoutMs > 0) && (navFSM[posControl.navState].onEvent[NAV_FSM_EVENT_TIMEOUT] != NAV_STATE_UNDEFINED) &&
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if ((navFSM[posControl.navState].timeoutMs > 0) && (navFSM[posControl.navState].onEvent[NAV_FSM_EVENT_TIMEOUT] != NAV_STATE_UNDEFINED) &&
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@ -221,7 +221,7 @@ static void inavFilterCorrectVel(int axis, float dt, float e, float w)
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#define resetTimer(tim, currentTimeUs) { (tim)->deltaTime = 0; (tim)->lastTriggeredTime = currentTimeUs; }
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#define resetTimer(tim, currentTimeUs) { (tim)->deltaTime = 0; (tim)->lastTriggeredTime = currentTimeUs; }
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#define getTimerDeltaMicros(tim) ((tim)->deltaTime)
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#define getTimerDeltaMicros(tim) ((tim)->deltaTime)
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static bool updateTimer(navigationTimer_t * tim, uint32_t interval, timeUs_t currentTimeUs)
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static bool updateTimer(navigationTimer_t * tim, timeUs_t interval, timeUs_t currentTimeUs)
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{
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{
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if ((currentTimeUs - tim->lastTriggeredTime) >= interval) {
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if ((currentTimeUs - tim->lastTriggeredTime) >= interval) {
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tim->deltaTime = currentTimeUs - tim->lastTriggeredTime;
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tim->deltaTime = currentTimeUs - tim->lastTriggeredTime;
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@ -254,7 +254,7 @@ static bool shouldResetReferenceAltitude(void)
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* Don't overload your GPS in its config with trash, choose a Hz rate that it can deliver at a sustained rate.
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* Don't overload your GPS in its config with trash, choose a Hz rate that it can deliver at a sustained rate.
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* (c) CrashPilot1000
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* (c) CrashPilot1000
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*/
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*/
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static uint32_t getGPSDeltaTimeFilter(uint32_t dTus)
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static timeUs_t getGPSDeltaTimeFilter(timeUs_t dTus)
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{
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{
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if (dTus >= 225000 && dTus <= 275000) return HZ2US(4); // 4Hz Data 250ms
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if (dTus >= 225000 && dTus <= 275000) return HZ2US(4); // 4Hz Data 250ms
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if (dTus >= 180000 && dTus <= 220000) return HZ2US(5); // 5Hz Data 200ms
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if (dTus >= 180000 && dTus <= 220000) return HZ2US(5); // 5Hz Data 200ms
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@ -313,7 +313,7 @@ static bool detectGPSGlitch(timeUs_t currentTimeUs)
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*/
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*/
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void onNewGPSData(void)
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void onNewGPSData(void)
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{
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{
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static uint32_t lastGPSNewDataTime;
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static timeUs_t lastGPSNewDataTime;
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static int32_t previousLat;
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static int32_t previousLat;
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static int32_t previousLon;
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static int32_t previousLon;
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static int32_t previousAlt;
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static int32_t previousAlt;
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