Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 07:13:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: use singletons in AP_Arming

Browse Source
This commit is contained in:
Peter Barker 2018-06-25 13:42:17 +10:00 committed by Peter Barker
parent 598f82a2fe
commit a1f29e92d1
3 changed files with 14 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
ArduCopter/AP_Arming.cpp
View File

@ -71,10 +71,10 @@ bool AP_Arming_Copter::barometer_checks(bool display_failure)
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
// that may differ from the baro height due to baro drift.
nav_filter_status filt_status = _inav.get_filter_status();
nav_filter_status filt_status = copter.inertial_nav.get_filter_status();
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (using_baro_ref) {
if (fabsf(_inav.get_altitude() - copter.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (fabsf(copter.inertial_nav.get_altitude() - copter.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
check_failed(ARMING_CHECK_BARO, display_failure, "Altitude disparity");
ret = false;
}
@ -90,7 +90,7 @@ bool AP_Arming_Copter::compass_checks(bool display_failure)
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_COMPASS)) {
// check compass offsets have been set. AP_Arming only checks
// this if learning is off; Copter *always* checks.
if (!_compass.configured()) {
if (!AP::compass().configured()) {
check_failed(ARMING_CHECK_COMPASS, display_failure, "Compass not calibrated");
ret = false;
}
@ -342,6 +342,8 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
{
AP_Notify::flags.pre_arm_gps_check = false;
const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
// always check if inertial nav has started and is ready
if (!ahrs.healthy()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Waiting for Nav Checks");
@ -381,7 +383,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
// check for GPS glitch (as reported by EKF)
nav_filter_status filt_status;
if (_ahrs_navekf.get_filter_status(filt_status)) {
if (ahrs.get_filter_status(filt_status)) {
if (filt_status.flags.gps_glitching) {
check_failed(ARMING_CHECK_NONE, display_failure, "GPS glitching");
return false;
@ -392,7 +394,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
float vel_variance, pos_variance, hgt_variance, tas_variance;
Vector3f mag_variance;
Vector2f offset;
_ahrs_navekf.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
if (mag_variance.length() >= copter.g.fs_ekf_thresh) {
check_failed(ARMING_CHECK_NONE, display_failure, "EKF compass variance");
return false;
@ -430,7 +432,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
bool AP_Arming_Copter::pre_arm_ekf_attitude_check()
{
// get ekf filter status
nav_filter_status filt_status = _inav.get_filter_status();
nav_filter_status filt_status = copter.inertial_nav.get_filter_status();
return filt_status.flags.attitude;
}
@ -504,12 +506,15 @@ bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure)
// has side-effect that logging is started
bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
{
const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
// always check if inertial nav has started and is ready
if (!ahrs.healthy()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Waiting for Nav Checks");
return false;
}
const Compass &_compass = AP::compass();
#ifndef ALLOW_ARM_NO_COMPASS
// check compass health
if (!_compass.healthy()) {

10
ArduCopter/AP_Arming.h
View File

@ -7,11 +7,8 @@ class AP_Arming_Copter : public AP_Arming
public:
friend class Copter;
friend class ToyMode;
AP_Arming_Copter(const AP_AHRS_NavEKF &ahrs_ref, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav)
: AP_Arming(ahrs_ref, compass, battery)
, _inav(inav)
, _ahrs_navekf(ahrs_ref)
AP_Arming_Copter() : AP_Arming()
{
// default REQUIRE parameter to 1 (Copter does not have an
// actual ARMING_REQUIRE parameter)
@ -52,8 +49,5 @@ protected:
private:
const AP_InertialNav_NavEKF &_inav;
const AP_AHRS_NavEKF &_ahrs_navekf;
void parameter_checks_pid_warning_message(bool display_failure, const char *error_msg);
};

2
ArduCopter/Copter.h
View File

@ -281,7 +281,7 @@ private:
#endif
// Arming/Disarming mangement class
AP_Arming_Copter arming{ahrs, compass, battery, inertial_nav};
AP_Arming_Copter arming;
// Optical flow sensor
#if OPTFLOW == ENABLED