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AP_Arming: use gps singleton

This commit is contained in:
Peter Barker 2017-10-25 14:59:05 +11:00 committed by Francisco Ferreira
parent 693823ae0d
commit a8aa6a7822
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Arming/AP_Arming.cpp
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@ -339,7 +339,7 @@ bool AP_Arming::compass_checks(bool report)
bool AP_Arming::gps_checks(bool report) bool AP_Arming::gps_checks(bool report)
{ {
const AP_GPS &gps = ahrs.get_gps(); const AP_GPS &gps = AP::gps();
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS)) { if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS)) {
//GPS OK? //GPS OK?
@ -377,7 +377,7 @@ bool AP_Arming::gps_checks(bool report)
} }
// check AHRS and GPS are within 10m of each other // check AHRS and GPS are within 10m of each other
Location gps_loc = ahrs.get_gps().location(); Location gps_loc = gps.location();
Location ahrs_loc; Location ahrs_loc;
if (ahrs.get_position(ahrs_loc)) { if (ahrs.get_position(ahrs_loc)) {
float distance = location_3d_diff_NED(gps_loc, ahrs_loc).length(); float distance = location_3d_diff_NED(gps_loc, ahrs_loc).length();
@ -517,7 +517,7 @@ bool AP_Arming::arm_checks(uint8_t method)
// ensure the GPS drivers are ready on any final changes // ensure the GPS drivers are ready on any final changes
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_GPS_CONFIG)) { (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {
if (!AP_GPS::gps().prepare_for_arming()) { if (!AP::gps().prepare_for_arming()) {
return false; return false;
} }
} }