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global: use static method to construct RangeFinder

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This commit is contained in:
Lucas De Marchi 2017-08-25 10:23:01 -07:00 committed by Francisco Ferreira
parent 2e80b2e1d0
commit 9027a55696
9 changed files with 9 additions and 9 deletions
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2
APMrover2/Rover.h
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@ -155,7 +155,7 @@ private:
AP_Baro barometer = AP_Baro::create(); AP_Baro barometer = AP_Baro::create();
Compass compass = Compass::create(); Compass compass = Compass::create();
AP_InertialSensor ins = AP_InertialSensor::create(); AP_InertialSensor ins = AP_InertialSensor::create();
RangeFinder rangefinder { serial_manager, ROTATION_NONE }; RangeFinder rangefinder = RangeFinder::create(serial_manager, ROTATION_NONE);
AP_Button button; AP_Button button;
// flight modes convenience array // flight modes convenience array

2
AntennaTracker/Tracker.h
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@ -112,7 +112,7 @@ private:
AP_InertialSensor ins = AP_InertialSensor::create(); AP_InertialSensor ins = AP_InertialSensor::create();
RangeFinder rng {serial_manager, ROTATION_NONE}; RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_NONE);
// Inertial Navigation EKF // Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE

2
ArduCopter/Copter.h
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@ -201,7 +201,7 @@ private:
Compass compass = Compass::create(); Compass compass = Compass::create();
AP_InertialSensor ins = AP_InertialSensor::create(); AP_InertialSensor ins = AP_InertialSensor::create();
RangeFinder rangefinder {serial_manager, ROTATION_PITCH_270}; RangeFinder rangefinder = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
struct { struct {
bool enabled:1; bool enabled:1;
bool alt_healthy:1; // true if we can trust the altitude from the rangefinder bool alt_healthy:1; // true if we can trust the altitude from the rangefinder

2
ArduPlane/Plane.h
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@ -205,7 +205,7 @@ private:
AP_InertialSensor ins = AP_InertialSensor::create(); AP_InertialSensor ins = AP_InertialSensor::create();
RangeFinder rangefinder {serial_manager, ROTATION_PITCH_270}; RangeFinder rangefinder = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
AP_Vehicle::FixedWing::Rangefinder_State rangefinder_state; AP_Vehicle::FixedWing::Rangefinder_State rangefinder_state;

2
ArduSub/Sub.h
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@ -170,7 +170,7 @@ private:
Compass compass = Compass::create(); Compass compass = Compass::create();
AP_InertialSensor ins = AP_InertialSensor::create(); AP_InertialSensor ins = AP_InertialSensor::create();
RangeFinder rangefinder {serial_manager, ROTATION_PITCH_270}; RangeFinder rangefinder = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
struct { struct {
bool enabled:1; bool enabled:1;
bool alt_healthy:1; // true if we can trust the altitude from the rangefinder bool alt_healthy:1; // true if we can trust the altitude from the rangefinder

2
Tools/Replay/Replay.h
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@ -63,7 +63,7 @@ public:
AP_GPS gps = AP_GPS::create(); AP_GPS gps = AP_GPS::create();
Compass compass = Compass::create(); Compass compass = Compass::create();
AP_SerialManager serial_manager; AP_SerialManager serial_manager;
RangeFinder rng {serial_manager, ROTATION_PITCH_270}; RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
NavEKF2 EKF2{&ahrs, barometer, rng}; NavEKF2 EKF2{&ahrs, barometer, rng};
NavEKF3 EKF3{&ahrs, barometer, rng}; NavEKF3 EKF3{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rng, EKF2, EKF3}; AP_AHRS_NavEKF ahrs {ins, barometer, gps, rng, EKF2, EKF3};

2
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
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@ -23,7 +23,7 @@ AP_SerialManager serial_manager;
class DummyVehicle { class DummyVehicle {
public: public:
RangeFinder sonar {serial_manager, ROTATION_PITCH_270}; RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3, AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF}; AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF2 EKF2{&ahrs, barometer, sonar}; NavEKF2 EKF2{&ahrs, barometer, sonar};

2
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
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@ -26,7 +26,7 @@ public:
Compass compass = Compass::create(); Compass compass = Compass::create();
AP_InertialSensor ins = AP_InertialSensor::create(); AP_InertialSensor ins = AP_InertialSensor::create();
AP_SerialManager serial_manager; AP_SerialManager serial_manager;
RangeFinder sonar {serial_manager, ROTATION_PITCH_270}; RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3, AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF}; AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF2 EKF2{&ahrs, barometer, sonar}; NavEKF2 EKF2{&ahrs, barometer, sonar};

2
libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.cpp
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@ -11,7 +11,7 @@ void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static AP_SerialManager serial_manager; static AP_SerialManager serial_manager;
static RangeFinder sonar {serial_manager, ROTATION_PITCH_270}; static RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
void setup() void setup()
{ {