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AR_Motors: create and use a singleton for SRV_Channels 

avoid creation of static pointers to objects held within SRV_Channels
This commit is contained in:
Peter Barker 2024-11-09 18:17:28 +11:00 committed by Andrew Tridgell
parent f60d059618
commit c1f04b507e
1 changed files with 3 additions and 3 deletions
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6
libraries/AR_Motors/AP_MotorsUGV.cpp
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@ -343,7 +343,7 @@ void AP_MotorsUGV::output(bool armed, float ground_speed, float dt)
SRV_Channels::calc_pwm();
SRV_Channels::cork();
SRV_Channels::output_ch_all();
SRV_Channels::push();
AP::srv().push();
}
// test steering or throttle output as a percentage of the total (range -100 to +100)
@ -411,7 +411,7 @@ bool AP_MotorsUGV::output_test_pct(motor_test_order motor_seq, float pct)
SRV_Channels::calc_pwm();
SRV_Channels::cork();
SRV_Channels::output_ch_all();
SRV_Channels::push();
AP::srv().push();
return true;
}
@ -477,7 +477,7 @@ bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm)
SRV_Channels::calc_pwm();
SRV_Channels::cork();
SRV_Channels::output_ch_all();
SRV_Channels::push();
AP::srv().push();
return true;
}