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AP_Arming: use singletons in AP_Arming

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Peter Barker 2018-06-25 13:42:39 +10:00 committed by Peter Barker
parent 051c811bfb
commit 598f82a2fe
2 changed files with 14 additions and 14 deletions
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14
libraries/AP_Arming/AP_Arming.cpp
View File

@ -78,11 +78,7 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
//The function point is particularly hacky, hacky, tacky //The function point is particularly hacky, hacky, tacky
//but I don't want to reimplement messaging to GCS at the moment: //but I don't want to reimplement messaging to GCS at the moment:
AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, Compass &compass, AP_Arming::AP_Arming() :
const AP_BattMonitor &battery) :
ahrs(ahrs_ref),
_compass(compass),
_battery(battery),
arming_method(NONE) arming_method(NONE)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
@ -154,7 +150,7 @@ bool AP_Arming::airspeed_checks(bool report)
{ {
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_AIRSPEED)) { (checks_to_perform & ARMING_CHECK_AIRSPEED)) {
const AP_Airspeed *airspeed = ahrs.get_airspeed(); const AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed == nullptr) { if (airspeed == nullptr) {
// not an airspeed capable vehicle // not an airspeed capable vehicle
return true; return true;
@ -305,6 +301,8 @@ bool AP_Arming::compass_checks(bool report)
if ((checks_to_perform) & ARMING_CHECK_ALL || if ((checks_to_perform) & ARMING_CHECK_ALL ||
(checks_to_perform) & ARMING_CHECK_COMPASS) { (checks_to_perform) & ARMING_CHECK_COMPASS) {
Compass &_compass = AP::compass();
// avoid Compass::use_for_yaw(void) as it implicitly calls healthy() which can // avoid Compass::use_for_yaw(void) as it implicitly calls healthy() which can
// incorrectly skip the remaining checks, pass the primary instance directly // incorrectly skip the remaining checks, pass the primary instance directly
if (!_compass.use_for_yaw(_compass.get_primary())) { if (!_compass.use_for_yaw(_compass.get_primary())) {
@ -391,7 +389,7 @@ bool AP_Arming::gps_checks(bool report)
// check AHRS and GPS are within 10m of each other // check AHRS and GPS are within 10m of each other
Location gps_loc = gps.location(); Location gps_loc = gps.location();
Location ahrs_loc; Location ahrs_loc;
if (ahrs.get_position(ahrs_loc)) { if (AP::ahrs().get_position(ahrs_loc)) {
const float distance = location_diff(gps_loc, ahrs_loc).length(); const float distance = location_diff(gps_loc, ahrs_loc).length();
if (distance > AP_ARMING_AHRS_GPS_ERROR_MAX) { if (distance > AP_ARMING_AHRS_GPS_ERROR_MAX) {
if (report) { if (report) {
@ -423,6 +421,8 @@ bool AP_Arming::battery_checks(bool report)
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_BATTERY)) { (checks_to_perform & ARMING_CHECK_BATTERY)) {
const AP_BattMonitor &_battery = AP::battery();
if (AP_Notify::flags.failsafe_battery) { if (AP_Notify::flags.failsafe_battery) {
check_failed(ARMING_CHECK_BATTERY, report, "Battery failsafe on"); check_failed(ARMING_CHECK_BATTERY, report, "Battery failsafe on");
return false; return false;

14
libraries/AP_Arming/AP_Arming.h
View File

@ -9,6 +9,13 @@
class AP_Arming { class AP_Arming {
public: public:
AP_Arming();
/* Do not allow copies */
AP_Arming(const AP_Arming &other) = delete;
AP_Arming &operator=(const AP_Arming&) = delete;
enum ArmingChecks { enum ArmingChecks {
ARMING_CHECK_NONE = 0x0000, ARMING_CHECK_NONE = 0x0000,
ARMING_CHECK_ALL = 0x0001, ARMING_CHECK_ALL = 0x0001,
@ -62,8 +69,6 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
protected: protected:
AP_Arming(const AP_AHRS &ahrs_ref, Compass &compass,
const AP_BattMonitor &battery);
// Parameters // Parameters
AP_Int8 require; AP_Int8 require;
@ -71,11 +76,6 @@ protected:
AP_Float accel_error_threshold; AP_Float accel_error_threshold;
AP_Float _min_voltage[AP_BATT_MONITOR_MAX_INSTANCES]; AP_Float _min_voltage[AP_BATT_MONITOR_MAX_INSTANCES];
// references
const AP_AHRS &ahrs;
Compass &_compass;
const AP_BattMonitor &_battery;
// internal members // internal members
bool armed:1; bool armed:1;
bool logging_available:1; bool logging_available:1;