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Improve pause function work

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Fix disconnecting from qgc while pausing in the simulation. 
Consider total delay time in micros() in simulation to increase t while delaying.
Simplify and get rid of ARDUINO macro check.
This commit is contained in:
Oleg Kalachev 2025-07-12 09:29:47 +03:00
parent fd4bcbeb89
commit 85afe405cb
2 changed files with 5 additions and 6 deletions
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6
flix/cli.ino
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@ -53,7 +53,6 @@ void print(const char* format, ...) {
} }
void pause(float duration) { void pause(float duration) {
#if ARDUINO
double start = t; double start = t;
while (t - start < duration) { while (t - start < duration) {
step(); step();
@ -61,11 +60,8 @@ void pause(float duration) {
#if WIFI_ENABLED #if WIFI_ENABLED
processMavlink(); processMavlink();
#endif #endif
delay(50);
} }
#else
// Code above won't work in the simulation
delay(duration * 1000);
#endif
} }
void doCommand(String str, bool echo = false) { void doCommand(String str, bool echo = false) {

5
gazebo/Arduino.h
View File

@ -156,8 +156,11 @@ public:
void restart() { Serial.println("Ignore reboot in simulation"); } void restart() { Serial.println("Ignore reboot in simulation"); }
} ESP; } ESP;
unsigned long __delayTime = 0;
void delay(uint32_t ms) { void delay(uint32_t ms) {
std::this_thread::sleep_for(std::chrono::milliseconds(ms)); std::this_thread::sleep_for(std::chrono::milliseconds(ms));
__delayTime += ms * 1000;
} }
bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; } bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
@ -167,5 +170,5 @@ unsigned long __micros;
unsigned long __resetTime = 0; unsigned long __resetTime = 0;
unsigned long micros() { unsigned long micros() {
return __micros + __resetTime; // keep the time monotonic return __micros + __resetTime + __delayTime; // keep the time monotonic
} }