Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ArduCopter: use static method to construct AP_Arming_Copter

This commit is contained in:
Lucas De Marchi 2017-08-28 14:44:08 -07:00 committed by Francisco Ferreira
parent 39aee74b29
commit 10529feae6
2 changed files with 20 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
ArduCopter/AP_Arming.h
View File

@ -5,16 +5,18 @@
class AP_Arming_Copter : public AP_Arming
{
public:
AP_Arming_Copter(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav,
const AP_InertialSensor &ins) :
AP_Arming(ahrs_ref, baro, compass, battery),
_inav(inav),
_ins(ins),
_ahrs_navekf(ahrs_ref)
{
static AP_Arming_Copter create(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav,
const AP_InertialSensor &ins) {
return AP_Arming_Copter{ahrs_ref, baro, compass, battery, inav, ins};
}
constexpr AP_Arming_Copter(AP_Arming_Copter &&other) = default;
/* Do not allow copies */
AP_Arming_Copter(const AP_Arming_Copter &other) = delete;
AP_Arming_Copter &operator=(const AP_Baro&) = delete;
void update(void);
bool all_checks_passing(bool arming_from_gcs);
@ -46,6 +48,15 @@ protected:
enum HomeState home_status() const override;
private:
AP_Arming_Copter(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav,
const AP_InertialSensor &ins)
: AP_Arming(ahrs_ref, baro, compass, battery)
, _inav(inav)
, _ins(ins)
, _ahrs_navekf(ahrs_ref)
{
}
const AP_InertialNav_NavEKF &_inav;
const AP_InertialSensor &_ins;

2
ArduCopter/Copter.h
View File

@ -229,7 +229,7 @@ private:
FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void));
// Arming/Disarming mangement class
AP_Arming_Copter arming {ahrs, barometer, compass, battery, inertial_nav, ins};
AP_Arming_Copter arming = AP_Arming_Copter::create(ahrs, barometer, compass, battery, inertial_nav, ins);
// Optical flow sensor
#if OPTFLOW == ENABLED