From 4caa5b784849540bc622c284036b7004701ec7dd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Fri, 1 Dec 2023 17:17:31 +0100
Subject: [PATCH] [ImuCalibration] Update to Miosix 2.7 API
---
src/entrypoints/imu-calibration.cpp | 11 ++++++-----
1 file changed, 6 insertions(+), 5 deletions(-)
diff --git a/src/entrypoints/imu-calibration.cpp b/src/entrypoints/imu-calibration.cpp
index d42b4977f..b28705fef 100644
--- a/src/entrypoints/imu-calibration.cpp
+++ b/src/entrypoints/imu-calibration.cpp
@@ -29,6 +29,7 @@
#include <iostream>
using namespace Boardcore;
+using namespace Boardcore::Constants;
using namespace Eigen;
using namespace miosix;
@@ -108,14 +109,14 @@ void calibrateMagnetometer()
scheduler.start();
// Wait and then stop the sampling
- auto startTick = getTick();
- auto lastTick = startTick;
- while (getTick() - startTick < MAG_CALIBRATION_DURATION * 1e3)
+ auto startTime = getTime();
+ auto lastTime = startTime;
+ while (getTime() - startTime < MAG_CALIBRATION_DURATION * NS_IN_S)
{
mpu.sample();
calibration.feed(mpu.getLastSample());
- Thread::sleepUntil(lastTick + IMU_SAMPLE_PERIOD);
- lastTick = getTick();
+ Thread::nanoSleepUntil(lastTime + (IMU_SAMPLE_PERIOD * NS_IN_MS));
+ lastTime = getTime();
}
scheduler.stop();
--
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