ADSB: replace last excess hrt_absolute_time() in the loop

PX4 · Dec 19, 2024 · c69f96e · c69f96e
1 parent 30e51cb
commit c69f96e
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/src/lib/adsb/AdsbConflict.cpp b/src/lib/adsb/AdsbConflict.cpp
@@ -111,9 +111,9 @@ void AdsbConflict::remove_icao_address_from_conflict_list(int traffic_index)
 	PX4_INFO("icao_address removed. Buffer Size: %d", (int)_traffic_buffer.timestamp.size());
 }
 
-void AdsbConflict::add_icao_address_from_conflict_list(uint32_t icao_address)
+void AdsbConflict::add_icao_address_from_conflict_list(uint32_t icao_address, hrt_abstime now)
 {
-	_traffic_buffer.timestamp.push_back(hrt_absolute_time());
+	_traffic_buffer.timestamp.push_back(now);
 	_traffic_buffer.icao_address.push_back(icao_address);
 	PX4_INFO("icao_address added. Buffer Size: %d", (int)_traffic_buffer.timestamp.size());
 }
@@ -133,7 +133,7 @@ void AdsbConflict::get_traffic_state(hrt_abstime now)
 	}
 
 	if (new_traffic && _conflict_detected && !_traffic_buffer_full) {
-		add_icao_address_from_conflict_list(_transponder_report.icao_address);
+		add_icao_address_from_conflict_list(_transponder_report.icao_address, now);
 		_traffic_state = TRAFFIC_STATE::ADD_CONFLICT;
 
 	} else if (new_traffic && _conflict_detected && _traffic_buffer_full) {

diff --git a/src/lib/adsb/AdsbConflict.h b/src/lib/adsb/AdsbConflict.h
@@ -109,7 +109,7 @@ class AdsbConflict
 
 	void remove_icao_address_from_conflict_list(int traffic_index);
 
-	void add_icao_address_from_conflict_list(uint32_t icao_address);
+	void add_icao_address_from_conflict_list(uint32_t icao_address, hrt_abstime now);
 
 	void get_traffic_state(hrt_abstime now);
 
@@ -129,8 +129,7 @@ class AdsbConflict
 			  float hor_velocity, float ver_velocity, int emitter_type, uint32_t icao_address, double lat_uav, double lon_uav,
 			  float &alt_uav);
 
-	void run_fake_traffic(double &lat_uav, double &lon_uav,
-			      float &alt_uav);
+	void run_fake_traffic(double &lat_uav, double &lon_uav, float &alt_uav);
 
 	void remove_expired_conflicts();