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AP_HAL: use singleton getter for Baro in SIMState

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this instance variable was always nullptr due to constructor ordering
This commit is contained in:
Peter Barker 2022-10-10 14:48:38 +11:00 committed by Andrew Tridgell
parent 27c4293302
commit 1c9d01c8fd
2 changed files with 3 additions and 5 deletions
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6
libraries/AP_HAL/SIMState.cpp
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@ -43,9 +43,6 @@ void SIMState::_sitl_setup(const char *home_str)
_home_str = home_str; _home_str = home_str;
printf("Starting SITL input\n"); printf("Starting SITL input\n");
// find the barometer object if it exists
_barometer = AP_Baro::get_singleton();
} }
@ -235,6 +232,9 @@ void SIMState::_simulator_servos(struct sitl_input &input)
uint32_t now = AP_HAL::micros(); uint32_t now = AP_HAL::micros();
// last_update_usec = now; // last_update_usec = now;
// find the barometer object if it exists
const auto *_barometer = AP_Baro::get_singleton();
float altitude = _barometer?_barometer->get_altitude():0; float altitude = _barometer?_barometer->get_altitude():0;
float wind_speed = 0; float wind_speed = 0;
float wind_direction = 0; float wind_direction = 0;

2
libraries/AP_HAL/SIMState.h
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@ -87,8 +87,6 @@ private:
pid_t _parent_pid; pid_t _parent_pid;
uint32_t _update_count; uint32_t _update_count;
class AP_Baro *_barometer;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SocketAPM _sitl_rc_in{true}; SocketAPM _sitl_rc_in{true};
#endif #endif