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Sub: use baro singleton

This commit is contained in:
Peter Barker 2018-03-06 07:37:52 +11:00 committed by Lucas De Marchi
parent f558bbca2e
commit 06f6135daa
4 changed files with 9 additions and 9 deletions
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4
ArduSub/AP_Arming_Sub.h
View File

@ -4,9 +4,9 @@
class AP_Arming_Sub : public AP_Arming {
public:
AP_Arming_Sub(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
AP_Arming_Sub(const AP_AHRS &ahrs_ref, Compass &compass,
const AP_BattMonitor &battery)
: AP_Arming(ahrs_ref, baro, compass, battery)
: AP_Arming(ahrs_ref, compass, battery)
{
}

4
ArduSub/GCS_Mavlink.cpp
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@ -544,13 +544,13 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
send_scaled_pressure(sub.barometer);
send_scaled_pressure();
sub.send_temperature(chan);
break;
case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
send_sensor_offsets(sub.ins, sub.compass, sub.barometer);
send_sensor_offsets(sub.ins, sub.compass);
break;
case MSG_RANGEFINDER:

2
ArduSub/Log.cpp
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@ -318,7 +318,7 @@ void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
void Sub::Log_Write_Baro(void)
{
if (!ahrs.have_ekf_logging()) {
DataFlash.Log_Write_Baro(barometer);
DataFlash.Log_Write_Baro();
}
}

8
ArduSub/Sub.h
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@ -186,9 +186,9 @@ private:
#endif
// Inertial Navigation EKF
NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF2 EKF2{&ahrs, rangefinder};
NavEKF3 EKF3{&ahrs, rangefinder};
AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl;
@ -330,7 +330,7 @@ private:
// Battery Sensors
AP_BattMonitor battery{MASK_LOG_CURRENT};
AP_Arming_Sub arming{ahrs, barometer, compass, battery};
AP_Arming_Sub arming{ahrs, compass, battery};
// Altitude
// The cm/s we are moving up or down based on filtered data - Positive = UP