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DCM needs a reference to a pointer so that we can change the GPS under it during init.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1662 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2011-02-16 07:54:48 +00:00
parent bffe20ed5e
commit 7ca9081238
1 changed files with 7 additions and 14 deletions
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21
libraries/AP_DCM/AP_DCM.h
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@ -21,18 +21,7 @@ class AP_DCM
{
public:
// Constructors
AP_DCM(IMU *imu, GPS *gps) :
_imu(imu),
_gps(gps),
_compass(0),
_dcm_matrix(1, 0, 0,
0, 1, 0,
0, 0, 1),
_course_over_ground_x(0),
_course_over_ground_y(1)
{}
AP_DCM(IMU *imu, GPS *gps, Compass *withCompass) :
AP_DCM(IMU *imu, GPS *&gps, Compass *withCompass = NULL) :
_imu(imu),
_gps(gps),
_compass(withCompass),
@ -82,8 +71,12 @@ private:
// members
Compass * _compass;
GPS * _gps;
IMU * _imu;
// note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
// IMU under us without our noticing.
GPS *&_gps; // note: this is a reference to a pointer owned by the caller
IMU *_imu;
Matrix3f _dcm_matrix;