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AP_GPS: stop passing serial manager to GPS init

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it can get this via the singleton
This commit is contained in:
Peter Barker 2024-03-17 21:21:32 +11:00 committed by Andrew Tridgell
parent 4811a10e1a
commit 8bd05941a1
3 changed files with 4 additions and 3 deletions
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3
libraries/AP_GPS/AP_GPS.cpp
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@ -464,7 +464,7 @@ bool AP_GPS::needs_uart(GPS_Type type) const
} }
/// Startup initialisation. /// Startup initialisation.
void AP_GPS::init(const AP_SerialManager& serial_manager) void AP_GPS::init()
{ {
// Set new primary param based on old auto_switch use second option // Set new primary param based on old auto_switch use second option
if ((_auto_switch.get() == 3) && !_primary.configured()) { if ((_auto_switch.get() == 3) && !_primary.configured()) {
@ -473,6 +473,7 @@ void AP_GPS::init(const AP_SerialManager& serial_manager)
} }
// search for serial ports with gps protocol // search for serial ports with gps protocol
const auto &serial_manager = AP::serialmanager();
uint8_t uart_idx = 0; uint8_t uart_idx = 0;
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (needs_uart((GPS_Type)_type[i].get())) { if (needs_uart((GPS_Type)_type[i].get())) {

2
libraries/AP_GPS/AP_GPS.h
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@ -243,7 +243,7 @@ public:
}; };
/// Startup initialisation. /// Startup initialisation.
void init(const class AP_SerialManager& serial_manager); void init();
/// Update GPS state based on possible bytes received from the module. /// Update GPS state based on possible bytes received from the module.
/// This routine must be called periodically (typically at 10Hz or /// This routine must be called periodically (typically at 10Hz or

2
libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp
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@ -66,7 +66,7 @@ void setup()
// Initialize the UART for GPS system // Initialize the UART for GPS system
serial_manager.init(); serial_manager.init();
gps.init(serial_manager); gps.init();
} }