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Blimp: create and use a singleton for SRV_Channels 

avoid creation of static pointers to objects held within SRV_Channels
This commit is contained in:
Peter Barker 2024-11-09 18:24:59 +11:00 committed by Andrew Tridgell
parent a8b07a854f
commit 52e2a162c9
3 changed files with 4 additions and 4 deletions
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2
Blimp/Blimp.cpp
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@ -210,7 +210,7 @@ void Blimp::one_hz_loop()
#endif #endif
// update assigned functions and enable auxiliary servos // update assigned functions and enable auxiliary servos
SRV_Channels::enable_aux_servos(); AP::srv().enable_aux_servos();
AP_Notify::flags.flying = !ap.land_complete; AP_Notify::flags.flying = !ap.land_complete;

4
Blimp/motors.cpp
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@ -88,5 +88,5 @@ void Blimp::motors_output()
motors->output(); motors->output();
// push all channels // push all channels
SRV_Channels::push(); AP::srv().push();
} }

2
Blimp/radio.cpp
View File

@ -38,7 +38,7 @@ void Blimp::init_rc_in()
void Blimp::init_rc_out() void Blimp::init_rc_out()
{ {
// enable aux servos to cope with multiple output channels per motor // enable aux servos to cope with multiple output channels per motor
SRV_Channels::enable_aux_servos(); AP::srv().enable_aux_servos();
// refresh auxiliary channel to function map // refresh auxiliary channel to function map
SRV_Channels::update_aux_servo_function(); SRV_Channels::update_aux_servo_function();