Copter: Adds units to time values

ArduCopter/mode_auto.cpp

@@ -2077,7 +2077,7 @@ bool ModeAuto::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
  }
 
  // start our loiter timer
- if ( loiter_time == 0 ) {
+ if ( loiter_time == 0_ms ) {
  loiter_time = millis();
  }
 
@@ -2152,7 +2152,7 @@ bool ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
  }
 
  // start timer if necessary
- if (loiter_time == 0) {
+ if (loiter_time == 0_ms) {
  loiter_time = millis();
  if (loiter_time_max > 0) {
  // play a tone
@@ -2227,7 +2227,7 @@ bool ModeAuto::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
 bool ModeAuto::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
 {
  if (millis() - nav_delay_time_start_ms > nav_delay_time_max_ms) {
- nav_delay_time_max_ms = 0;
+ nav_delay_time_max_ms = 0_ms;
  return true;
  }
  return false;

ArduCopter/mode_flowhold.cpp

@@ -318,7 +318,7 @@ void ModeFlowHold::run()
  get_pilot_desired_lean_angles(bf_angles.x, bf_angles.y, angle_max, attitude_control->get_althold_lean_angle_max_cd());
 
  if (quality_filtered >= flow_min_quality &&
- AP_HAL::millis() - copter.arm_time_ms > 3000) {
+ AP_HAL::millis() - copter.arm_time_ms > 3_s) {
  // don't use for first 3s when we are just taking off
  Vector2f flow_angles;
 
@@ -353,7 +353,7 @@ void ModeFlowHold::update_height_estimate(void)
  // assume on ground when disarmed, or if we have only just started spooling the motors up
  if (!hal.util->get_soft_armed() ||
  copter.motors->get_desired_spool_state() != AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED ||
- AP_HAL::millis() - copter.arm_time_ms < 1500) {
+ AP_HAL::millis() - copter.arm_time_ms < 1500_ms) {
  height_offset = -ins_height;
  last_ins_height = ins_height;
  return;

ArduCopter/mode_follow.cpp

@@ -152,7 +152,7 @@ void ModeFollow::run()
  // log output at 10hz
  uint32_t now = AP_HAL::millis();
  bool log_request = false;
- if ((now - last_log_ms >= 100) || (last_log_ms == 0)) {
+ if ((now - last_log_ms >= 100_ms) || (last_log_ms == 0_ms)) {
  log_request = true;
  last_log_ms = now;
  }

ArduCopter/mode_guided.cpp

@@ -1034,7 +1034,7 @@ void ModeGuided::limit_init_time_and_pos()
 bool ModeGuided::limit_check()
 {
  // check if we have passed the timeout
- if ((guided_limit.timeout_ms > 0) && (millis() - guided_limit.start_time >= guided_limit.timeout_ms)) {
+ if ((guided_limit.timeout_ms > 0_ms) && (millis() - guided_limit.start_time >= guided_limit.timeout_ms)) {
  return true;
  }
 

ArduCopter/mode_smart_rtl.cpp

@@ -118,7 +118,7 @@ void ModeSmartRTL::path_follow_run()
  } else if (path_follow_last_pop_fail_ms == 0) {
  // first time we've failed to pop off (ever, or after a success)
  path_follow_last_pop_fail_ms = AP_HAL::millis();
- } else if (AP_HAL::millis() - path_follow_last_pop_fail_ms > 10000) {
+ } else if (AP_HAL::millis() - path_follow_last_pop_fail_ms > 10_s) {
  // we failed to pop a point off for 10 seconds. This is
  // almost certainly a bug.
  INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);

ArduCopter/mode_throw.cpp

@@ -202,7 +202,7 @@ void ModeThrow::run()
 
  // log at 10hz or if stage changes
  uint32_t now = AP_HAL::millis();
- if ((stage != prev_stage) || (now - last_log_ms) > 100) {
+ if ((stage != prev_stage) || (now - last_log_ms) > 100_ms) {
  prev_stage = stage;
  last_log_ms = now;
  const float velocity = inertial_nav.get_velocity_neu_cms().length();
@@ -276,13 +276,13 @@ bool ModeThrow::throw_detected()
  bool possible_throw_detected = (free_falling || high_speed) && changing_height && no_throw_action;
 
  // Record time and vertical velocity when we detect the possible throw
- if (possible_throw_detected && ((AP_HAL::millis() - free_fall_start_ms) > 500)) {
+ if (possible_throw_detected && ((AP_HAL::millis() - free_fall_start_ms) > 500_ms)) {
  free_fall_start_ms = AP_HAL::millis();
  free_fall_start_velz = inertial_nav.get_velocity_z_up_cms();
  }
 
  // Once a possible throw condition has been detected, we check for 2.5 m/s of downwards velocity change in less than 0.5 seconds to confirm
- bool throw_condition_confirmed = ((AP_HAL::millis() - free_fall_start_ms < 500) && ((inertial_nav.get_velocity_z_up_cms() - free_fall_start_velz) < -250.0f));
+ bool throw_condition_confirmed = ((AP_HAL::millis() - free_fall_start_ms < 500_ms) && ((inertial_nav.get_velocity_z_up_cms() - free_fall_start_velz) < -250.0f));
 
  // start motors and enter the control mode if we are in continuous freefall
  return throw_condition_confirmed;

ArduCopter/mode_turtle.cpp

@@ -172,7 +172,7 @@ void ModeTurtle::output_to_motors()
  // throttle needs to be raised
  if (is_zero(channel_throttle->norm_input_dz())) {
  const uint32_t now = AP_HAL::millis();
- if (now - last_throttle_warning_output_ms > 5000) {
+ if (now - last_throttle_warning_output_ms > 5_s) {
  gcs().send_text(MAV_SEVERITY_WARNING, "Turtle: raise throttle to arm");
  last_throttle_warning_output_ms = now;
  }

ArduCopter/mode_zigzag.cpp

@@ -404,7 +404,7 @@ bool ModeZigZag::reached_destination()
 
  // wait at time which is set in zigzag_wp_delay
  uint32_t now = AP_HAL::millis();
- if (reach_wp_time_ms == 0) {
+ if (reach_wp_time_ms == 0_ms) {
  reach_wp_time_ms = now;
  }
  return ((now - reach_wp_time_ms) >= (uint16_t)constrain_int16(_wp_delay, 0, 127) * 1000);