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AP_Rangefinder: Remove parameter manipulation from initializer

This commit is contained in:
Michael du Breuil 2019-04-05 02:13:42 -07:00 committed by Peter Barker
parent 3f5999a6ad
commit 21b64ad19b
3 changed files with 11 additions and 11 deletions
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14
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -147,16 +147,11 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
const AP_Param::GroupInfo *RangeFinder::backend_var_info[RANGEFINDER_MAX_INSTANCES];
RangeFinder::RangeFinder(AP_SerialManager &_serial_manager, enum Rotation orientation_default) :
RangeFinder::RangeFinder(AP_SerialManager &_serial_manager) :
serial_manager(_serial_manager)
{
AP_Param::setup_object_defaults(this, var_info);
// set orientation defaults
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
params[i].orientation.set_default(orientation_default);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_singleton != nullptr) {
AP_HAL::panic("Rangefinder must be singleton");
@ -290,7 +285,7 @@ void RangeFinder::convert_params(void) {
finders here. For now we won't allow for hot-plugging of
rangefinders.
*/
void RangeFinder::init(void)
void RangeFinder::init(enum Rotation orientation_default)
{
if (num_instances != 0) {
// init called a 2nd time?
@ -299,6 +294,11 @@ void RangeFinder::init(void)
convert_params();
// set orientation defaults
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
params[i].orientation.set_default(orientation_default);
}
for (uint8_t i=0, serial_instance = 0; i<RANGEFINDER_MAX_INSTANCES; i++) {
// serial_instance will be increased inside detect_instance
// if a serial driver is loaded for this instance

4
libraries/AP_RangeFinder/RangeFinder.h
View File

@ -37,7 +37,7 @@ class RangeFinder
friend class AP_RangeFinder_Backend;
public:
RangeFinder(AP_SerialManager &_serial_manager, enum Rotation orientation_default);
RangeFinder(AP_SerialManager &_serial_manager);
/* Do not allow copies */
RangeFinder(const RangeFinder &other) = delete;
@ -109,7 +109,7 @@ public:
}
// detect and initialise any available rangefinders
void init(void);
void init(enum Rotation orientation_default);
// update state of all rangefinders. Should be called at around
// 10Hz from main loop

4
libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.cpp
View File

@ -11,7 +11,7 @@ void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static AP_SerialManager serial_manager;
static RangeFinder sonar{serial_manager, ROTATION_PITCH_270};
static RangeFinder sonar{serial_manager};
void setup()
{
@ -25,7 +25,7 @@ void setup()
// initialise sensor, delaying to make debug easier
hal.scheduler->delay(2000);
sonar.init();
sonar.init(ROTATION_PITCH_270);
hal.console->printf("RangeFinder: %d devices detected\n", sonar.num_sensors());
}