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AP_Arming: use baro singleton

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This commit is contained in:
Peter Barker 2018-03-06 07:35:06 +11:00 committed by Lucas De Marchi
parent 747dbea476
commit 8d8f2208c0
2 changed files with 3 additions and 5 deletions
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5
libraries/AP_Arming/AP_Arming.cpp
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@ -77,10 +77,9 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
//The function point is particularly hacky, hacky, tacky
//but I don't want to reimplement messaging to GCS at the moment:
AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, Compass &compass,
const AP_BattMonitor &battery) :
ahrs(ahrs_ref),
barometer(baro),
_compass(compass),
_battery(battery),
armed(false),
@ -116,7 +115,7 @@ bool AP_Arming::barometer_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_BARO)) {
if (!barometer.all_healthy()) {
if (!AP::baro().all_healthy()) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Barometer not healthy");
}

3
libraries/AP_Arming/AP_Arming.h
View File

@ -61,7 +61,7 @@ public:
static const struct AP_Param::GroupInfo var_info[];
protected:
AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
AP_Arming(const AP_AHRS &ahrs_ref, Compass &compass,
const AP_BattMonitor &battery);
// Parameters
@ -72,7 +72,6 @@ protected:
// references
const AP_AHRS &ahrs;
const AP_Baro &barometer;
Compass &_compass;
const AP_BattMonitor &_battery;