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Replacing usleep with px4_usleep

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This is a step towards isolating time from the system.
This commit is contained in:
Julian Oes
2018-12-22 10:32:18 +01:00
parent e485885344
commit 5b9dea5604
112 changed files with 339 additions and 305 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -2638,7 +2638,7 @@ MavlinkReceiver::receive_thread(void *arg)
if (_mavlink->get_protocol() == UDP || _mavlink->get_protocol() == TCP) {
// make sure mavlink app has booted before we start using the socket
while (!_mavlink->boot_complete()) {
usleep(100000);
px4_usleep(100000);
}
fds[0].fd = _mavlink->get_socket_fd();
@@ -2662,7 +2662,7 @@ MavlinkReceiver::receive_thread(void *arg)
/* non-blocking read. read may return negative values */
if ((nread = ::read(fds[0].fd, buf, sizeof(buf))) < (ssize_t)character_count) {
const unsigned sleeptime = character_count * 1000000 / (_mavlink->get_baudrate() / 10);
usleep(sleeptime);
px4_usleep(sleeptime);
}
}