AP_Scripting: use seconds_since_boot() in scripts

ArduPilot · Jun 9, 2023 · d314ef2 · d314ef2
1 parent 1feeb45
commit d314ef2
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Showing 16 changed files with 27 additions and 27 deletions.
diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua
@@ -174,7 +174,7 @@ local function PI_controller(kP,kI,iMax)
 
    -- update the controller.
    function self.update(target, current)
-      local now = millis():tofloat() * 0.001
+      local now = seconds_since_boot()
       if not _last_t then
          _last_t = now
       end
@@ -460,7 +460,7 @@ end
 local knife_edge_ms = 0
 function do_knife_edge(arg1,arg2)
   -- arg1 is angle +/-180, duration is arg2
-    local now = millis():tofloat() * 0.001
+    local now = seconds_since_boot()
     if not running then
         running = true
         height_PI.reset()
@@ -498,7 +498,7 @@ end
 -- fly level for a time..allows full altitude recovery after trick
 function do_pause(arg1,arg2)
     -- arg1 is time of pause in sec, arg2 is unused
-    local now = millis():tofloat() * 0.001
+    local now = seconds_since_boot()
     if not running then
         running = true
         height_PI.reset()

diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
@@ -280,7 +280,7 @@ local function PI_controller(kP,kI,iMax,min,max)
 
    -- update the controller.
    function self.update(target, current)
-      local now = millis():tofloat() * 0.001
+      local now = seconds_since_boot()
       if not _last_t then
          _last_t = now
       end
@@ -1386,7 +1386,7 @@ function rudder_over(_direction, _min_speed)
       local ahrs_quat = ahrs:get_quaternion()
       local ahrs_pos = ahrs:get_relative_position_NED_origin()
       local ahrs_gyro = ahrs:get_gyro()
-      local now = millis():tofloat() * 0.001
+      local now = seconds_since_boot()
       local pitch_threshold = 60.0
 
       if target_q == nil then
@@ -1815,7 +1815,7 @@ end
 path_var.count = 0
 
 function do_path()
-   local now = millis():tofloat() * 0.001
+   local now = seconds_since_boot()
    local ahrs_pos_NED = ahrs:get_relative_position_NED_origin()
    local ahrs_pos = ahrs:get_position()
    local ahrs_gyro = ahrs:get_gyro()

diff --git a/libraries/AP_Scripting/applets/RockBlock.lua b/libraries/AP_Scripting/applets/RockBlock.lua
@@ -386,7 +386,7 @@ local function RockblockModem()
     local self = {
         is_transmitting = false,
         first_sucessful_mailbox_check = false,
-        time_last_tx = millis():tofloat() * 0.001,
+        time_last_tx = seconds_since_boot(),
         last_modem_status_check = 0,
         modem_detected = false,
         in_read_cycle = false,
@@ -601,9 +601,9 @@ local function RockblockModem()
 
     function self.checkmodem()
         --- send detect command to modem every 10 sec if not detected
-        if (millis():tofloat() * 0.001) - self.last_modem_status_check > 10 then
+       if seconds_since_boot() - self.last_modem_status_check > 10 then
             table.insert(_modem_to_send, _AT_query)
-            self.last_modem_status_check = millis():tofloat() * 0.001
+            self.last_modem_status_check = seconds_since_boot()
         end
     end
 
@@ -630,7 +630,7 @@ local function RockblockModem()
         table.insert(_modem_to_send, pkt)
         table.insert(_modem_to_send, highByte .. lowByte .. "\r")
 
-        self.time_last_tx = millis():tofloat() * 0.001
+        self.time_last_tx = seconds_since_boot()
         if RCK_ENABLE:get()  == 1 then
             table.insert(_modem_to_send, _AT_mailbox_check)
             self.is_transmitting = true
@@ -714,7 +714,7 @@ function HLSatcom()
 
     -- send HL2 packet every 30 sec, if not aleady in a mailbox check
     if rockblock.modem_detected and gcs:get_high_latency_status() and
-        (millis():tofloat() * 0.001) - rockblock.time_last_tx > RCK_PERIOD:get() and not rockblock.is_transmitting then
+       seconds_since_boot() - rockblock.time_last_tx > RCK_PERIOD:get() and not rockblock.is_transmitting then
 
         -- update HL2 packet
         hl2.timestamp = millis():tofloat()

diff --git a/libraries/AP_Scripting/applets/VTOL-quicktune.lua b/libraries/AP_Scripting/applets/VTOL-quicktune.lua
@@ -186,7 +186,7 @@ end
 
 -- get time in seconds since boot
 function get_time()
-   return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 local axis_names = { "RLL", "PIT", "YAW" }

diff --git a/libraries/AP_Scripting/applets/plane_package_place.lua b/libraries/AP_Scripting/applets/plane_package_place.lua
@@ -57,7 +57,7 @@ SRV_Channels:set_output_scaled(PKG_RELEASE_FUNC:get(), 0)
 
 -- get time in seconds
 function get_time()
-   return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 -- reset state

diff --git a/libraries/AP_Scripting/drivers/EFI_HFE.lua b/libraries/AP_Scripting/drivers/EFI_HFE.lua
@@ -34,7 +34,7 @@ function bind_add_param(name, idx, default_value)
 end
 
 function get_time_sec()
-    return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 -- Type conversion functions

diff --git a/libraries/AP_Scripting/drivers/EFI_Halo6000.lua b/libraries/AP_Scripting/drivers/EFI_Halo6000.lua
@@ -31,7 +31,7 @@ function bind_add_param(name, idx, default_value)
 end
 
 function get_time_sec()
-    return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 -- Type conversion functions

diff --git a/libraries/AP_Scripting/drivers/EFI_SkyPower.lua b/libraries/AP_Scripting/drivers/EFI_SkyPower.lua
@@ -44,7 +44,7 @@ function bind_add_param(name, idx, default_value)
 end
 
 function get_time_sec()
-    return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 -- Type conversion functions

diff --git a/libraries/AP_Scripting/examples/EFI_tester.lua b/libraries/AP_Scripting/examples/EFI_tester.lua
@@ -31,7 +31,7 @@ local EFISIM_TYPE  = bind_add_param('TYPE', 1, 0)
 local EFISIM_RATE_HZ  = bind_add_param('RATE_HZ', 2, 100)
 
 function get_time_sec()
-   return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 local FRM_100 = uint32_t(0x80000100)

diff --git a/libraries/AP_Scripting/examples/MAVLinkHL.lua b/libraries/AP_Scripting/examples/MAVLinkHL.lua
@@ -27,7 +27,7 @@ end
 port:begin(19200)
 port:set_flow_control(0)
 
-local time_last_tx = millis():tofloat() * 0.001
+local time_last_tx = seconds_since_boot()
 
 -- enable high latency mode from here, instead of having to enable from GCS
 gcs:enable_high_latency_connections(true)
@@ -369,7 +369,7 @@ function HLSatcom()
     end
 
     -- send HL2 packet every 5 sec
-    if gcs:get_high_latency_status() and (millis():tofloat() * 0.001) -
+    if gcs:get_high_latency_status() and seconds_since_boot() -
         time_last_tx > 5 then
 
         -- update HL2 packet
@@ -454,7 +454,7 @@ function HLSatcom()
 
         for idx = 1, #newpkt do port:write(newpkt:byte(idx)) end
 
-        time_last_tx = millis():tofloat() * 0.001
+        time_last_tx = seconds_since_boot()
 
     end
 

diff --git a/libraries/AP_Scripting/examples/OOP_example.lua b/libraries/AP_Scripting/examples/OOP_example.lua
@@ -34,7 +34,7 @@ local function PIFF(kFF,kP,kI,iMax)
 
    -- update the controller.
    function self.update(target, current)
-      local now = millis():tofloat() * 0.001
+      local now = seconds_since_boot()
       if not _last_t then
          _last_t = now
       end
@@ -90,7 +90,7 @@ function PIFF2.new(kFF,kP,kI,iMax)
 end
 
 function PIFF2.update(self, target, current)
-   local now = millis():tofloat() * 0.001
+   local now = seconds_since_boot()
    if not self.last_t then
       self.last_t = now
    end

diff --git a/libraries/AP_Scripting/examples/gen_control.lua b/libraries/AP_Scripting/examples/gen_control.lua
@@ -101,7 +101,7 @@ local function PI_controller(kP,kI,iMax,min,max)
 
    -- update the controller.
    function self.update(target, current)
-      local now = millis():tofloat() * 0.001
+      local now = seconds_since_boot()
       if not _last_t then
          _last_t = now
       end

diff --git a/libraries/AP_Scripting/examples/opendog_demo.lua b/libraries/AP_Scripting/examples/opendog_demo.lua
@@ -11,7 +11,7 @@ pwm = { 1500, 1500, 2000,
 local angle = 0.0
 
 function update()
-   local t = 0.001 * millis():tofloat()
+   local t = seconds_since_boot()
    local angle = math.sin(t) * 0.5
    pwm[6] = math.floor(1500.0 + angle*500.0)
    for i = 1, 12 do

diff --git a/libraries/AP_Scripting/examples/protected_call.lua b/libraries/AP_Scripting/examples/protected_call.lua
@@ -6,7 +6,7 @@
 
 -- example main loop function
 function update()
-   local t = 0.001 * millis():tofloat()
+   local t = seconds_since_boot()
    gcs:send_text(0, string.format("TICK %.1fs", t))
    if math.floor(t) % 10 == 0 then
       -- deliberately make a bad call to cause a fault, asking for the 6th GPS status

diff --git a/libraries/AP_Scripting/examples/servo_scan.lua b/libraries/AP_Scripting/examples/servo_scan.lua
@@ -4,7 +4,7 @@ local SERVO_FUNCTION = 94
 local PERIOD = 0.5
 
 function update() -- this is the loop which periodically runs
-  local t = 0.001 * millis():tofloat()
+  local t = seconds_since_boot()
   local pi = 3.1415
   local output = math.sin(pi * t * PERIOD * 2.0)
   local pwm = math.floor(1500 + 500 * output)

diff --git a/libraries/AP_Scripting/examples/servo_slew.lua b/libraries/AP_Scripting/examples/servo_slew.lua
@@ -29,7 +29,7 @@ function update()
    local chan = STEST_CHAN:get()
    local freq = STEST_FREQ:get()
    if chan > 0 and freq > 0 then
-      local t = 0.001 * millis():tofloat()
+      local t = seconds_since_boot()
       local pi = 3.1415
       local output = math.sin(pi * t * freq * 2.0) * STEST_PCT:get() * 0.01
       local pwm_min = STEST_PWM_MIN:get()