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AP_OpticalFlow: fix onboard init 

mistake in patch to avoid segfault which enabled
AP_OpticalFlow_Linux instead of AP_OpticalFlow_Onboard.
Store a reference to ahrs in order to execute init later, when
ahrs is initialized.
This commit is contained in:
Julien Beraud 2016-11-21 18:04:20 +01:00 committed by Lucas De Marchi
parent 75a2a1cd6c
commit d50fd3a6cd
2 changed files with 6 additions and 3 deletions
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8
libraries/AP_OpticalFlow/OpticalFlow.cpp
View File

@ -60,6 +60,7 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = {
// default constructor
OpticalFlow::OpticalFlow(AP_AHRS_NavEKF &ahrs)
: _last_update_ms(0)
, _ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
@ -76,12 +77,13 @@ void OpticalFlow::init(void)
backend = new AP_OpticalFlow_PX4(*this);
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
backend = new AP_OpticalFlow_HIL(*this);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
backend = new AP_OpticalFlow_Linux(*this, hal.i2c_mgr->get_device(HAL_OPTFLOW_PX4FLOW_I2C_BUS, HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
backend = new AP_OpticalFlow_Onboard(*this, ahrs);
backend = new AP_OpticalFlow_Onboard(*this, _ahrs);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
backend = new AP_OpticalFlow_Linux(*this, hal.i2c_mgr->get_device(HAL_OPTFLOW_PX4FLOW_I2C_BUS, HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS));
#endif
}

1
libraries/AP_OpticalFlow/OpticalFlow.h
View File

@ -80,6 +80,7 @@ public:
private:
OpticalFlow_backend *backend;
AP_AHRS_NavEKF &_ahrs;
struct AP_OpticalFlow_Flags {
uint8_t healthy : 1; // true if sensor is healthy