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AP_Frsky_Telem: use rangefinder singleton

This commit is contained in:
Peter Barker 2019-02-12 18:39:45 +11:00 committed by Francisco Ferreira
parent 4776183554
commit 9023e6eb7d
2 changed files with 4 additions and 9 deletions
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9
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -25,6 +25,7 @@
#include <AP_AHRS/AP_AHRS.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <GCS_MAVLink/GCS.h>
#include <stdio.h>
@ -33,11 +34,6 @@ extern const AP_HAL::HAL& hal;
ObjectArray<mavlink_statustext_t> AP_Frsky_Telem::_statustext_queue(FRSKY_TELEM_PAYLOAD_STATUS_CAPACITY);
//constructor
AP_Frsky_Telem::AP_Frsky_Telem(const RangeFinder &rng) :
_rng(rng)
{}
/*
* init - perform required initialisation
*/
@ -785,6 +781,7 @@ uint32_t AP_Frsky_Telem::calc_velandyaw(void)
uint32_t AP_Frsky_Telem::calc_attiandrng(void)
{
const AP_AHRS &_ahrs = AP::ahrs();
const RangeFinder *_rng = RangeFinder::get_singleton();
uint32_t attiandrng;
@ -793,7 +790,7 @@ uint32_t AP_Frsky_Telem::calc_attiandrng(void)
// pitch from [-9000;9000] centidegrees to unsigned .2 degree increments [0;900] (just in case, limit to 1023 (0x3FF) since the value is stored on 10 bits)
attiandrng |= ((uint16_t)roundf((_ahrs.pitch_sensor + 9000) * 0.05f) & ATTIANDRNG_PITCH_LIMIT)<<ATTIANDRNG_PITCH_OFFSET;
// rangefinder measurement in cm
attiandrng |= prep_number(_rng.distance_cm_orient(ROTATION_PITCH_270), 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
attiandrng |= prep_number(_rng ? _rng->distance_cm_orient(ROTATION_PITCH_270) : 0, 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
return attiandrng;
}

4
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -16,7 +16,6 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_HAL/utility/RingBuffer.h>
@ -114,7 +113,7 @@ for FrSky SPort Passthrough
class AP_Frsky_Telem {
public:
AP_Frsky_Telem(const RangeFinder &rng);
AP_Frsky_Telem() {}
/* Do not allow copies */
AP_Frsky_Telem(const AP_Frsky_Telem &other) = delete;
@ -146,7 +145,6 @@ public:
void set_frame_string(const char *string) { _frame_string = string; }
private:
const RangeFinder &_rng;
AP_HAL::UARTDriver *_port; // UART used to send data to FrSky receiver
AP_SerialManager::SerialProtocol _protocol; // protocol used - detected using SerialManager's SERIAL#_PROTOCOL parameter
bool _initialised_uart;