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AP_Terrain: use ahrs singleton

This commit is contained in:
Peter Barker 2018-11-07 19:28:27 +11:00 committed by Andrew Tridgell
parent 46f3b5d109
commit 1a853f6f82
3 changed files with 13 additions and 11 deletions
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15
libraries/AP_Terrain/AP_Terrain.cpp
View File

@ -56,8 +56,7 @@ const AP_Param::GroupInfo AP_Terrain::var_info[] = {
}; };
// constructor // constructor
AP_Terrain::AP_Terrain(AP_AHRS &_ahrs, const AP_Mission &_mission, const AP_Rally &_rally) : AP_Terrain::AP_Terrain(const AP_Mission &_mission, const AP_Rally &_rally) :
ahrs(_ahrs),
mission(_mission), mission(_mission),
rally(_rally), rally(_rally),
disk_io_state(DiskIoIdle), disk_io_state(DiskIoIdle),
@ -81,6 +80,8 @@ bool AP_Terrain::height_amsl(const Location &loc, float &height, bool corrected)
return false; return false;
} }
const AP_AHRS &ahrs = AP::ahrs();
// quick access for home altitude // quick access for home altitude
if (loc.lat == home_loc.lat && if (loc.lat == home_loc.lat &&
loc.lng == home_loc.lng) { loc.lng == home_loc.lng) {
@ -161,6 +162,8 @@ bool AP_Terrain::height_amsl(const Location &loc, float &height, bool corrected)
*/ */
bool AP_Terrain::height_terrain_difference_home(float &terrain_difference, bool extrapolate) bool AP_Terrain::height_terrain_difference_home(float &terrain_difference, bool extrapolate)
{ {
const AP_AHRS &ahrs = AP::ahrs();
float height_home, height_loc; float height_home, height_loc;
if (!height_amsl(ahrs.get_home(), height_home, false)) { if (!height_amsl(ahrs.get_home(), height_home, false)) {
// we don't know the height of home // we don't know the height of home
@ -208,7 +211,7 @@ bool AP_Terrain::height_above_terrain(float &terrain_altitude, bool extrapolate)
} }
float relative_home_altitude; float relative_home_altitude;
ahrs.get_relative_position_D_home(relative_home_altitude); AP::ahrs().get_relative_position_D_home(relative_home_altitude);
relative_home_altitude = -relative_home_altitude; relative_home_altitude = -relative_home_altitude;
terrain_altitude = relative_home_altitude - terrain_difference; terrain_altitude = relative_home_altitude - terrain_difference;
@ -254,7 +257,7 @@ float AP_Terrain::lookahead(float bearing, float distance, float climb_ratio)
} }
Location loc; Location loc;
if (!ahrs.get_position(loc)) { if (!AP::ahrs().get_position(loc)) {
// we don't know where we are // we don't know where we are
return 0; return 0;
} }
@ -295,6 +298,8 @@ void AP_Terrain::update(void)
// just schedule any needed disk IO // just schedule any needed disk IO
schedule_disk_io(); schedule_disk_io();
const AP_AHRS &ahrs = AP::ahrs();
// try to ensure the home location is populated // try to ensure the home location is populated
float height; float height;
height_amsl(ahrs.get_home(), height, false); height_amsl(ahrs.get_home(), height, false);
@ -342,7 +347,7 @@ void AP_Terrain::log_terrain_data(DataFlash_Class &dataflash)
return; return;
} }
Location loc; Location loc;
if (!ahrs.get_position(loc)) { if (!AP::ahrs().get_position(loc)) {
// we don't know where we are // we don't know where we are
return; return;
} }

6
libraries/AP_Terrain/AP_Terrain.h
View File

@ -76,7 +76,7 @@
class AP_Terrain { class AP_Terrain {
public: public:
AP_Terrain(AP_AHRS &_ahrs, const AP_Mission &_mission, const AP_Rally &_rally); AP_Terrain(const AP_Mission &_mission, const AP_Rally &_rally);
/* Do not allow copies */ /* Do not allow copies */
AP_Terrain(const AP_Terrain &other) = delete; AP_Terrain(const AP_Terrain &other) = delete;
@ -336,10 +336,6 @@ private:
AP_Int8 enable; AP_Int8 enable;
AP_Int16 grid_spacing; // meters between grid points AP_Int16 grid_spacing; // meters between grid points
// reference to AHRS, so we can ask for our position,
// heading and speed
AP_AHRS &ahrs;
// reference to AP_Mission, so we can ask preload terrain data for // reference to AP_Mission, so we can ask preload terrain data for
// all waypoints // all waypoints
const AP_Mission &mission; const AP_Mission &mission;

3
libraries/AP_Terrain/TerrainGCS.cpp
View File

@ -92,7 +92,7 @@ void AP_Terrain::send_request(mavlink_channel_t chan)
schedule_disk_io(); schedule_disk_io();
Location loc; Location loc;
if (!ahrs.get_position(loc)) { if (!AP::ahrs().get_position(loc)) {
// we don't know where we are // we don't know where we are
return; return;
} }
@ -206,6 +206,7 @@ void AP_Terrain::send_terrain_report(mavlink_channel_t chan, const Location &loc
float home_terrain_height = 0; float home_terrain_height = 0;
uint16_t spacing = 0; uint16_t spacing = 0;
Location current_loc; Location current_loc;
const AP_AHRS &ahrs = AP::ahrs();
if (ahrs.get_position(current_loc) && if (ahrs.get_position(current_loc) &&
height_amsl(ahrs.get_home(), home_terrain_height, false) && height_amsl(ahrs.get_home(), home_terrain_height, false) &&
height_amsl(loc, terrain_height, false)) { height_amsl(loc, terrain_height, false)) {