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GCS_MAVLink: move gripper up to AP_Vehicle

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also make the singleton return a reference rather than a pointer
This commit is contained in:
Peter Barker 2024-02-21 17:40:35 +11:00 committed by Peter Barker
parent 9bdb886bb8
commit 362867415f
1 changed files with 4 additions and 7 deletions
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11
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4705,14 +4705,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_set_ekf_source_set(const mavlink_command_
#if AP_GRIPPER_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_int_t &packet)
{
AP_Gripper *gripper = AP::gripper();
if (gripper == nullptr) {
return MAV_RESULT_FAILED;
}
AP_Gripper &gripper = AP::gripper();
// param1 : gripper number (ignored)
// param2 : action (0=release, 1=grab). See GRIPPER_ACTIONS enum.
if(!gripper->enabled()) {
if(!gripper.enabled()) {
return MAV_RESULT_FAILED;
}
@ -4720,10 +4717,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_int_t &p
switch ((uint8_t)packet.param2) {
case GRIPPER_ACTION_RELEASE:
gripper->release();
gripper.release();
break;
case GRIPPER_ACTION_GRAB:
gripper->grab();
gripper.grab();
break;
default:
result = MAV_RESULT_FAILED;