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AP_Airspeed: Create a singleton

This commit is contained in:
Michael du Breuil 2018-03-04 17:13:48 -07:00 committed by Francisco Ferreira
parent 338af9e142
commit a46c60f4de
2 changed files with 12 additions and 0 deletions
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9
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -201,6 +201,11 @@ AP_Airspeed::AP_Airspeed()
state[i].EAS2TAS = 1;
}
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
AP_HAL::panic("AP_Airspeed must be singleton");
}
_singleton = this;
}
@ -449,3 +454,7 @@ bool AP_Airspeed::all_healthy(void) const
}
return true;
}
// singleton instance
AP_Airspeed *AP_Airspeed::_singleton;

3
libraries/AP_Airspeed/AP_Airspeed.h
View File

@ -164,8 +164,11 @@ public:
// get current primary sensor
uint8_t get_primary(void) const { return primary; }
static AP_Airspeed *get_singleton() { return _singleton; }
private:
static AP_Airspeed *_singleton;
AP_Int8 primary_sensor;