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Copter: avoidance no longer takes ahrs in constructor

This commit is contained in:
Peter Barker 2019-07-09 16:05:42 +10:00 committed by Andrew Tridgell
parent d7fd88bbca
commit 9412075b9c
3 changed files with 4 additions and 6 deletions
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2
ArduCopter/Copter.h
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@ -545,7 +545,7 @@ private:
AP_ADSB adsb; AP_ADSB adsb;
// avoidance of adsb enabled vehicles (normally manned vehicles) // avoidance of adsb enabled vehicles (normally manned vehicles)
AP_Avoidance_Copter avoidance_adsb{ahrs, adsb}; AP_Avoidance_Copter avoidance_adsb{adsb};
#endif #endif
// last valid RC input time // last valid RC input time

2
ArduCopter/avoidance_adsb.cpp
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@ -169,7 +169,7 @@ bool AP_Avoidance_Copter::handle_avoidance_vertical(const AP_Avoidance::Obstacle
// decide on whether we should climb or descend // decide on whether we should climb or descend
bool should_climb = false; bool should_climb = false;
Location my_loc; Location my_loc;
if (_ahrs.get_position(my_loc)) { if (AP::ahrs().get_position(my_loc)) {
should_climb = my_loc.alt > obstacle->_location.alt; should_climb = my_loc.alt > obstacle->_location.alt;
} }

6
ArduCopter/avoidance_adsb.h
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@ -8,10 +8,8 @@
// functionality - for example, not doing anything while landed. // functionality - for example, not doing anything while landed.
class AP_Avoidance_Copter : public AP_Avoidance { class AP_Avoidance_Copter : public AP_Avoidance {
public: public:
AP_Avoidance_Copter(AP_AHRS &ahrs, class AP_ADSB &adsb)
: AP_Avoidance(ahrs, adsb) using AP_Avoidance::AP_Avoidance;
{
}
/* Do not allow copies */ /* Do not allow copies */
AP_Avoidance_Copter(const AP_Avoidance_Copter &other) = delete; AP_Avoidance_Copter(const AP_Avoidance_Copter &other) = delete;