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AP_Devo_Telem: use AHRS singleton

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This commit is contained in:
Peter Barker 2019-02-13 15:42:56 +11:00 committed by Francisco Ferreira
parent 2ba6aa7e8a
commit 97a6ead690
2 changed files with 5 additions and 5 deletions
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6
libraries/AP_Devo_Telem/AP_Devo_Telem.cpp
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@ -25,6 +25,8 @@
#define AP_SERIALMANAGER_DEVO_BUFSIZE_TX 32 #define AP_SERIALMANAGER_DEVO_BUFSIZE_TX 32
#include "AP_Devo_Telem.h" #include "AP_Devo_Telem.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
#include <AP_BattMonitor/AP_BattMonitor.h> #include <AP_BattMonitor/AP_BattMonitor.h>
@ -32,8 +34,7 @@ extern const AP_HAL::HAL& hal;
//constructor //constructor
AP_DEVO_Telem::AP_DEVO_Telem(const AP_AHRS &ahrs) : AP_DEVO_Telem::AP_DEVO_Telem()
_ahrs(ahrs)
{ {
devoPacket.header = DEVOM_SYNC_BYTE; devoPacket.header = DEVOM_SYNC_BYTE;
} }
@ -81,6 +82,7 @@ void AP_DEVO_Telem::send_frames(uint8_t control_mode)
return; return;
} }
const AP_AHRS &_ahrs = AP::ahrs();
const AP_GPS &gps = AP::gps(); const AP_GPS &gps = AP::gps();
Location loc; Location loc;

4
libraries/AP_Devo_Telem/AP_Devo_Telem.h
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@ -16,13 +16,12 @@
#pragma once #pragma once
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_SerialManager/AP_SerialManager.h> #include <AP_SerialManager/AP_SerialManager.h>
class AP_DEVO_Telem { class AP_DEVO_Telem {
public: public:
//constructor //constructor
AP_DEVO_Telem(const AP_AHRS &ahrs); AP_DEVO_Telem();
/* Do not allow copies */ /* Do not allow copies */
AP_DEVO_Telem(const AP_DEVO_Telem &other) = delete; AP_DEVO_Telem(const AP_DEVO_Telem &other) = delete;
@ -62,7 +61,6 @@ private:
uint8_t _control_mode; uint8_t _control_mode;
const AP_AHRS &_ahrs; // reference to attitude estimate
AP_HAL::UARTDriver *_port; // UART used to send data to receiver AP_HAL::UARTDriver *_port; // UART used to send data to receiver
uint32_t _last_frame_ms; uint32_t _last_frame_ms;