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Rover: 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 18:24:59 +11:00 committed by Andrew Tridgell
parent 52e2a162c9
commit ccd12e3e12
2 changed files with 2 additions and 2 deletions
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2
Rover/Rover.cpp
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@ -435,7 +435,7 @@ void Rover::one_second_loop(void)
set_control_channels(); set_control_channels();
// cope with changes to aux functions // cope with changes to aux functions
SRV_Channels::enable_aux_servos(); AP::srv().enable_aux_servos();
// update notify flags // update notify flags
AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false); AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);

2
Rover/system.cpp
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@ -70,7 +70,7 @@ void Rover::init_ardupilot()
init_rc_in(); // sets up rc channels deadzone init_rc_in(); // sets up rc channels deadzone
g2.motors.init(get_frame_type()); // init motors including setting servo out channels ranges g2.motors.init(get_frame_type()); // init motors including setting servo out channels ranges
SRV_Channels::enable_aux_servos(); AP::srv().enable_aux_servos();
// init wheel encoders // init wheel encoders
g2.wheel_encoder.init(); g2.wheel_encoder.init();