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AP_Frsky_Telem: use battery singleton

This commit is contained in:
Peter Barker 2019-02-12 17:53:59 +11:00 committed by Francisco Ferreira
parent 53111129f2
commit 4776183554
2 changed files with 10 additions and 6 deletions
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12
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -23,6 +23,7 @@
#include "AP_Frsky_Telem.h" #include "AP_Frsky_Telem.h"
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_InertialSensor/AP_InertialSensor.h> #include <AP_InertialSensor/AP_InertialSensor.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
@ -33,8 +34,7 @@ extern const AP_HAL::HAL& hal;
ObjectArray<mavlink_statustext_t> AP_Frsky_Telem::_statustext_queue(FRSKY_TELEM_PAYLOAD_STATUS_CAPACITY); ObjectArray<mavlink_statustext_t> AP_Frsky_Telem::_statustext_queue(FRSKY_TELEM_PAYLOAD_STATUS_CAPACITY);
//constructor //constructor
AP_Frsky_Telem::AP_Frsky_Telem(const AP_BattMonitor &battery, const RangeFinder &rng) : AP_Frsky_Telem::AP_Frsky_Telem(const RangeFinder &rng) :
_battery(battery),
_rng(rng) _rng(rng)
{} {}
@ -139,7 +139,7 @@ void AP_Frsky_Telem::send_SPort_Passthrough(void)
_passthrough.batt_timer = AP_HAL::millis(); _passthrough.batt_timer = AP_HAL::millis();
return; return;
} }
if (_battery.num_instances() > 1) { if (AP::battery().num_instances() > 1) {
if ((now - _passthrough.batt_timer2) >= 1000) { if ((now - _passthrough.batt_timer2) >= 1000) {
send_uint32(DIY_FIRST_ID+8, calc_batt(1)); send_uint32(DIY_FIRST_ID+8, calc_batt(1));
_passthrough.batt_timer2 = AP_HAL::millis(); _passthrough.batt_timer2 = AP_HAL::millis();
@ -202,6 +202,7 @@ void AP_Frsky_Telem::send_SPort(void)
_SPort.sport_status = true; _SPort.sport_status = true;
} }
} else { } else {
const AP_BattMonitor &_battery = AP::battery();
switch(readbyte) { switch(readbyte) {
case SENSOR_ID_FAS: case SENSOR_ID_FAS:
switch (_SPort.fas_call) { switch (_SPort.fas_call) {
@ -294,6 +295,7 @@ void AP_Frsky_Telem::send_SPort(void)
void AP_Frsky_Telem::send_D(void) void AP_Frsky_Telem::send_D(void)
{ {
const AP_AHRS &_ahrs = AP::ahrs(); const AP_AHRS &_ahrs = AP::ahrs();
const AP_BattMonitor &_battery = AP::battery();
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
// send frame1 every 200ms // send frame1 every 200ms
@ -589,6 +591,8 @@ void AP_Frsky_Telem::check_ekf_status(void)
*/ */
uint32_t AP_Frsky_Telem::calc_param(void) uint32_t AP_Frsky_Telem::calc_param(void)
{ {
const AP_BattMonitor &_battery = AP::battery();
uint32_t param = 0; uint32_t param = 0;
// cycle through paramIDs // cycle through paramIDs
@ -674,6 +678,8 @@ uint32_t AP_Frsky_Telem::calc_gps_status(void)
*/ */
uint32_t AP_Frsky_Telem::calc_batt(uint8_t instance) uint32_t AP_Frsky_Telem::calc_batt(uint8_t instance)
{ {
const AP_BattMonitor &_battery = AP::battery();
uint32_t batt; uint32_t batt;
// battery voltage in decivolts, can have up to a 12S battery (4.25Vx12S = 51.0V) // battery voltage in decivolts, can have up to a 12S battery (4.25Vx12S = 51.0V)

4
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
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@ -15,7 +15,6 @@
#pragma once #pragma once
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_Notify/AP_Notify.h> #include <AP_Notify/AP_Notify.h>
#include <AP_RangeFinder/AP_RangeFinder.h> #include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_SerialManager/AP_SerialManager.h> #include <AP_SerialManager/AP_SerialManager.h>
@ -115,7 +114,7 @@ for FrSky SPort Passthrough
class AP_Frsky_Telem { class AP_Frsky_Telem {
public: public:
AP_Frsky_Telem(const AP_BattMonitor &battery, const RangeFinder &rng); AP_Frsky_Telem(const RangeFinder &rng);
/* Do not allow copies */ /* Do not allow copies */
AP_Frsky_Telem(const AP_Frsky_Telem &other) = delete; AP_Frsky_Telem(const AP_Frsky_Telem &other) = delete;
@ -147,7 +146,6 @@ public:
void set_frame_string(const char *string) { _frame_string = string; } void set_frame_string(const char *string) { _frame_string = string; }
private: private:
const AP_BattMonitor &_battery;
const RangeFinder &_rng; const RangeFinder &_rng;
AP_HAL::UARTDriver *_port; // UART used to send data to FrSky receiver AP_HAL::UARTDriver *_port; // UART used to send data to FrSky receiver
AP_SerialManager::SerialProtocol _protocol; // protocol used - detected using SerialManager's SERIAL#_PROTOCOL parameter AP_SerialManager::SerialProtocol _protocol; // protocol used - detected using SerialManager's SERIAL#_PROTOCOL parameter