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AC_PrecLand: add static create method

This commit is contained in:
Lucas De Marchi 2017-08-29 17:13:12 -07:00 committed by Francisco Ferreira
parent cf6ea9642e
commit b29a183a74
1 changed files with 11 additions and 3 deletions
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14
libraries/AC_PrecLand/AC_PrecLand.h
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@ -25,7 +25,6 @@ class AC_PrecLand
friend class AC_PrecLand_SITL;
public:
// precision landing behaviours (held in PRECLAND_ENABLED parameter)
enum PrecLandBehaviour {
PRECLAND_BEHAVIOUR_DISABLED,
@ -42,8 +41,15 @@ public:
PRECLAND_TYPE_SITL,
};
// constructor
AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav);
static AC_PrecLand create(const AP_AHRS& ahrs, const AP_InertialNav& inav) {
return AC_PrecLand{ahrs, inav};
}
constexpr AC_PrecLand(AC_PrecLand &&other) = default;
/* Do not allow copies */
AC_PrecLand(const AC_PrecLand &other) = delete;
AC_PrecLand &operator=(const AC_PrecLand&) = delete;
// perform any required initialisation of landing controllers
void init();
@ -79,6 +85,8 @@ public:
static const struct AP_Param::GroupInfo var_info[];
private:
AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav);
enum estimator_type_t {
ESTIMATOR_TYPE_RAW_SENSOR = 0,
ESTIMATOR_TYPE_KALMAN_FILTER = 1