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AP_Mission: move gripper up to AP_Vehicle

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also make the singleton return a reference rather than a pointer
This commit is contained in:
Peter Barker 2024-02-21 17:40:35 +11:00 committed by Peter Barker
parent 9a1a412152
commit b41d82c989
1 changed files with 3 additions and 6 deletions
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9
libraries/AP_Mission/AP_Mission_Commands.cpp
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@ -38,21 +38,18 @@ bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command
#if AP_GRIPPER_ENABLED #if AP_GRIPPER_ENABLED
bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd) bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd)
{ {
AP_Gripper *gripper = AP::gripper(); AP_Gripper &gripper = AP::gripper();
if (gripper == nullptr) {
return false;
}
// Note: we ignore the gripper num parameter because we only // Note: we ignore the gripper num parameter because we only
// support one gripper // support one gripper
switch (cmd.content.gripper.action) { switch (cmd.content.gripper.action) {
case GRIPPER_ACTION_RELEASE: case GRIPPER_ACTION_RELEASE:
gripper->release(); gripper.release();
// Log_Write_Event(DATA_GRIPPER_RELEASE); // Log_Write_Event(DATA_GRIPPER_RELEASE);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper Released"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper Released");
return true; return true;
case GRIPPER_ACTION_GRAB: case GRIPPER_ACTION_GRAB:
gripper->grab(); gripper.grab();
// Log_Write_Event(DATA_GRIPPER_GRAB); // Log_Write_Event(DATA_GRIPPER_GRAB);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper Grabbed"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper Grabbed");
return true; return true;