Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_RangeFinder: remove sitl pointer from header

Browse Source 
similar to what we do elsewhere, just grab the singleton in the cpp file rather than taking a pointer to it
This commit is contained in:
Peter Barker 2022-10-03 08:10:33 +11:00 committed by Andrew Tridgell
parent 6be8d9cd06
commit 5e7ae1213f
2 changed files with 2 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp
View File

@ -17,13 +17,13 @@
#if AP_RANGEFINDER_SIM_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <SITL/SITL.h>
/*
constructor - registers instance at top RangeFinder driver
*/
AP_RangeFinder_SITL::AP_RangeFinder_SITL(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, uint8_t instance) :
AP_RangeFinder_Backend(_state, _params),
sitl(AP::sitl()),
_instance(instance)
{}
@ -32,7 +32,7 @@ AP_RangeFinder_SITL::AP_RangeFinder_SITL(RangeFinder::RangeFinder_State &_state,
*/
void AP_RangeFinder_SITL::update(void)
{
const float dist = sitl->get_rangefinder(_instance);
const float dist = AP::sitl()->get_rangefinder(_instance);
// negative distance means nothing is connected
if (is_negative(dist)) {

5
libraries/AP_RangeFinder/AP_RangeFinder_SITL.h
View File

@ -24,8 +24,6 @@
#if AP_RANGEFINDER_SIM_ENABLED
#include <SITL/SITL.h>
class AP_RangeFinder_SITL : public AP_RangeFinder_Backend {
public:
// constructor. This incorporates initialisation as well.
@ -40,9 +38,6 @@ protected:
return MAV_DISTANCE_SENSOR_UNKNOWN;
}
private:
SITL::SIM *sitl;
uint8_t _instance;
};