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fix fmuv1 compile error

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This commit is contained in:
Mark Whitehorn
2016-02-27 11:25:56 +01:00
committed by Lorenz Meier
parent 426903c617
commit beb9707933
1 changed files with 6 additions and 0 deletions
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src/drivers/px4fmu/fmu.cpp
+6
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@@ -445,6 +445,7 @@ PX4FMU::init()
void void
PX4FMU:: safety_check_button(void) PX4FMU:: safety_check_button(void)
{ {
#ifdef GPIO_BTN_SAFETY
static int counter = 0; static int counter = 0;
/* /*
* Debounce the safety button, change state if it has been held for long enough. * Debounce the safety button, change state if it has been held for long enough.
@@ -514,6 +515,8 @@ PX4FMU:: safety_check_button(void)
if (blink_counter > 15) { if (blink_counter > 15) {
blink_counter = 0; blink_counter = 0;
} }
#endif
} }
int int
@@ -1051,6 +1054,8 @@ PX4FMU::cycle()
/* read safety switch input at 10Hz */ /* read safety switch input at 10Hz */
_cycle_timestamp = hrt_absolute_time(); _cycle_timestamp = hrt_absolute_time();
#ifdef GPIO_BTN_SAFETY
if (_cycle_timestamp - _last_safety_check >= (unsigned int)1e5) { if (_cycle_timestamp - _last_safety_check >= (unsigned int)1e5) {
_last_safety_check = _cycle_timestamp; _last_safety_check = _cycle_timestamp;
@@ -1081,6 +1086,7 @@ PX4FMU::cycle()
} }
} }
#endif
/* check arming state */ /* check arming state */
bool updated = false; bool updated = false;
orb_check(_armed_sub, &updated); orb_check(_armed_sub, &updated);