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AP_TECS: add static create method

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This commit is contained in:
Lucas De Marchi 2017-08-30 10:49:28 -07:00 committed by Francisco Ferreira
parent bfd13dfe87
commit 61a629d766
1 changed files with 19 additions and 8 deletions
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27
libraries/AP_TECS/AP_TECS.h
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@ -29,15 +29,18 @@
class AP_TECS : public AP_SpdHgtControl {
public:
AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, const AP_Landing &landing, const SoaringController &soaring_controller) :
_ahrs(ahrs),
aparm(parms),
_landing(landing),
_soaring_controller(soaring_controller)
{
AP_Param::setup_object_defaults(this, var_info);
static AP_TECS create(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms,
const AP_Landing &landing,
const SoaringController &soaring_controller) {
return AP_TECS{ahrs, parms, landing, soaring_controller};
}
constexpr AP_TECS(AP_TECS &&other) = default;
/* Do not allow copies */
AP_TECS(const AP_TECS &other) = delete;
AP_TECS &operator=(const AP_TECS&) = delete;
// Update of the estimated height and height rate internal state
// Update of the inertial speed rate internal state
// Should be called at 50Hz or greater
@ -119,6 +122,15 @@ public:
static const struct AP_Param::GroupInfo var_info[];
private:
AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, const AP_Landing &landing, const SoaringController &soaring_controller)
: _ahrs(ahrs)
, aparm(parms)
, _landing(landing)
, _soaring_controller(soaring_controller)
{
AP_Param::setup_object_defaults(this, var_info);
}
// Last time update_50Hz was called
uint64_t _update_50hz_last_usec;
@ -370,4 +382,3 @@ private:
// current time constant
float timeConstant(void) const;
};