yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

Replacing usleep with px4_usleep

Browse Source 
This is a step towards isolating time from the system.
This commit is contained in:
Julian Oes
2018-10-04 06:51:04 +02:00
parent e485885344
commit 5b9dea5604
112 changed files with 339 additions and 305 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/simulator/simulator_mavlink.cpp
View File

@@ -336,7 +336,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
unsigned usleep_delay = (sysdelay - min_delay) / _realtime_factor;
// extend by the realtime factor to avoid drift
usleep(usleep_delay);
px4_usleep(usleep_delay);
hrt_stop_delay_delta(exact_delay);
px4_sim_stop_delay();
}
@@ -838,7 +838,7 @@ void Simulator::pollForMAVLinkMessages(bool publish, int udp_port)
if (pret < 0) {
PX4_WARN("simulator mavlink: poll error %d, %d", pret, errno);
// sleep a bit before next try
usleep(100000);
px4_usleep(100000);
continue;
}