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global: use static method to construct AC_Fence

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This commit is contained in:
Lucas De Marchi 2017-08-29 16:06:26 -07:00 committed by Francisco Ferreira
parent 52686ec838
commit c6eb48009b
4 changed files with 3 additions and 8 deletions
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3
ArduCopter/Copter.cpp
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@ -66,9 +66,6 @@ Copter::Copter(void)
mainLoop_count(0), mainLoop_count(0),
rtl_loiter_start_time(0), rtl_loiter_start_time(0),
auto_trim_counter(0), auto_trim_counter(0),
#if AC_FENCE == ENABLED
fence(ahrs, inertial_nav),
#endif
#if AC_AVOID_ENABLED == ENABLED #if AC_AVOID_ENABLED == ENABLED
avoid(ahrs, inertial_nav, fence, g2.proximity, &g2.beacon), avoid(ahrs, inertial_nav, fence, g2.proximity, &g2.beacon),
#endif #endif

3
ArduCopter/Copter.h
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@ -554,8 +554,9 @@ private:
// AC_Fence library to reduce fly-aways // AC_Fence library to reduce fly-aways
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
AC_Fence fence; AC_Fence fence = AC_Fence::create(ahrs, inertial_nav);
#endif #endif
#if AC_AVOID_ENABLED == ENABLED #if AC_AVOID_ENABLED == ENABLED
AC_Avoid avoid; AC_Avoid avoid;
#endif #endif

3
ArduSub/Sub.cpp
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@ -59,9 +59,6 @@ Sub::Sub(void)
pmTest1(0), pmTest1(0),
fast_loopTimer(0), fast_loopTimer(0),
mainLoop_count(0), mainLoop_count(0),
#if AC_FENCE == ENABLED
fence(ahrs, inertial_nav),
#endif
#if AC_RALLY == ENABLED #if AC_RALLY == ENABLED
rally(ahrs), rally(ahrs),
#endif #endif

2
ArduSub/Sub.h
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@ -426,7 +426,7 @@ private:
// AC_Fence library to reduce fly-aways // AC_Fence library to reduce fly-aways
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
AC_Fence fence; AC_Fence fence = AC_Fence::create(ahrs, inertial_nav);
#endif #endif
// Rally library // Rally library