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Rover: remove pointless library init wrappers 

The vast majority of calls in init_ardupilot already follow this
convention
This commit is contained in:
Peter Barker 2019-11-25 10:29:59 +11:00 committed by Randy Mackay
parent d70e252bf4
commit a798c87d91
3 changed files with 4 additions and 25 deletions
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3
APMrover2/Rover.h
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@ -384,12 +384,9 @@ private:
// sensors.cpp
void update_compass(void);
void compass_save(void);
void init_beacon();
void init_visual_odom();
void update_wheel_encoder();
void accel_cal_update(void);
void read_rangefinders(void);
void init_proximity();
void read_airspeed();
void rpm_update(void);

18
APMrover2/sensors.cpp
View File

@ -20,18 +20,6 @@ void Rover::compass_save() {
}
}
// init beacons used for non-gps position estimates
void Rover::init_beacon()
{
g2.beacon.init();
}
// init visual odometry sensor
void Rover::init_visual_odom()
{
g2.visual_odom.init();
}
// update wheel encoders
void Rover::update_wheel_encoder()
{
@ -119,12 +107,6 @@ void Rover::read_rangefinders(void)
Log_Write_Depth();
}
// initialise proximity sensor
void Rover::init_proximity(void)
{
g2.proximity.init();
}
/*
ask airspeed sensor for a new value, duplicated from plane
*/

8
APMrover2/system.cpp
View File

@ -99,13 +99,13 @@ void Rover::init_ardupilot()
rangefinder.init(ROTATION_NONE);
// init proximity sensor
init_proximity();
g2.proximity.init();
// init beacons used for non-gps position estimation
init_beacon();
g2.beacon.init();
// init visual odometry
init_visual_odom();
// init library used for visual position estimation
g2.visual_odom.init();
// and baro for EKF
barometer.set_log_baro_bit(MASK_LOG_IMU);