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

AP_Limits: convert to using StorageManager

This commit is contained in:
Andrew Tridgell 2014-08-13 14:43:45 +10:00
parent 7a12ff0271
commit 2d9e9879a2
2 changed files with 10 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
libraries/AP_Limits/AP_Limit_Geofence.cpp
View File

@ -54,17 +54,17 @@ const AP_Param::GroupInfo AP_Limit_Geofence::var_info[] PROGMEM = {
};
// storage object
StorageAccess AP_Limit_Geofence::_storage(StorageManager::StorageFence);
AP_Limit_Geofence::AP_Limit_Geofence(uint16_t efs, uint8_t f_wp_s,
uint8_t max_fp, GPS *&gps, const struct Location *h_loc,
const struct Location *c_loc) :
GPS *&gps, const struct Location *h_loc,
const struct Location *c_loc) :
AP_Limit_Module(AP_LIMITS_GEOFENCE),
_gps(gps),
_current_loc(c_loc),
_home(h_loc),
_eeprom_fence_start(efs),
_fence_wp_size(f_wp_s),
_max_fence_points(max_fp),
_boundary_uptodate(false)
{
AP_Param::setup_object_defaults(this, var_info);
@ -147,11 +147,8 @@ void AP_Limit_Geofence::set_fence_point_with_index(Vector2l &point, uint8_t i)
return;
}
uint16_t mem = _eeprom_fence_start + (i * _fence_wp_size);
hal.storage->write_dword(mem, point.x);
mem += 4;
hal.storage->write_dword(mem, point.y);
_storage.write_uint32(i * 8, point.x);
_storage.write_uint32(i * 8+4, point.y);
_boundary_uptodate = false;
}
@ -168,10 +165,8 @@ Vector2l AP_Limit_Geofence::get_fence_point_with_index(uint8_t i)
}
// read fence point
uint16_t mem = _eeprom_fence_start + (i * _fence_wp_size);
ret.x = hal.storage->read_dword(mem);
mem += 4;
ret.y = hal.storage->read_dword(mem);
ret.x = _storage.read_uint32(i * 8);
ret.y = _storage.read_uint32(i * 8+4);
return ret;
}

5
libraries/AP_Limits/AP_Limit_Geofence.h
View File

@ -14,6 +14,7 @@
#include <AP_Math.h>
#include <AP_Param.h>
#include <GPS.h>
#include <../StorageManager/StorageManager.h>
#define MAX_FENCEPOINTS 6
@ -51,9 +52,7 @@ protected:
AP_Int8 _num_points;
private:
const uint16_t _eeprom_fence_start;
const unsigned _fence_wp_size;
const unsigned _max_fence_points;
static StorageAccess _storage;
bool _boundary_uptodate;
Vector2l _boundary[MAX_FENCEPOINTS]; // complex mode fence