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Tracker: use baro singleton

This commit is contained in:
Peter Barker 2018-03-06 08:05:20 +11:00 committed by Lucas De Marchi
parent 3a718366e1
commit 7d024095c6
3 changed files with 7 additions and 7 deletions
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4
AntennaTracker/GCS_Mavlink.cpp
View File

@ -202,12 +202,12 @@ bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id)
case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
send_scaled_pressure(tracker.barometer);
send_scaled_pressure();
break;
case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
send_sensor_offsets(tracker.ins, tracker.compass, tracker.barometer);
send_sensor_offsets(tracker.ins, tracker.compass);
break;
case MSG_SIMSTATE:

2
AntennaTracker/Log.cpp
View File

@ -21,7 +21,7 @@ void Tracker::Log_Write_Attitude()
void Tracker::Log_Write_Baro(void)
{
DataFlash.Log_Write_Baro(barometer);
DataFlash.Log_Write_Baro();
}
struct PACKED log_Vehicle_Baro {

8
AntennaTracker/Tracker.h
View File

@ -116,11 +116,11 @@ private:
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, barometer, rng};
NavEKF3 EKF3{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3};
NavEKF2 EKF2{&ahrs, rng};
NavEKF3 EKF3{&ahrs, rng};
AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3};
#else
AP_AHRS_DCM ahrs{ins, barometer};
AP_AHRS_DCM ahrs{ins};
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL