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AP_Avoidance: stop taking reference to ahrs in constructor

This commit is contained in:
Peter Barker 2019-07-09 16:04:59 +10:00 committed by Andrew Tridgell
parent f85bad752e
commit d7fd88bbca
2 changed files with 10 additions and 10 deletions
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10
libraries/AP_Avoidance/AP_Avoidance.cpp
View File

@ -3,6 +3,7 @@
extern const AP_HAL::HAL& hal;
#include <limits>
#include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h>
#define AVOIDANCE_DEBUGGING 0
@ -125,8 +126,7 @@ const AP_Param::GroupInfo AP_Avoidance::var_info[] = {
AP_GROUPEND
};
AP_Avoidance::AP_Avoidance(AP_AHRS &ahrs, AP_ADSB &adsb) :
_ahrs(ahrs),
AP_Avoidance::AP_Avoidance(AP_ADSB &adsb) :
_adsb(adsb)
{
AP_Param::setup_object_defaults(this, var_info);
@ -436,6 +436,8 @@ bool AP_Avoidance::obstacle_is_more_serious_threat(const AP_Avoidance::Obstacle
void AP_Avoidance::check_for_threats()
{
const AP_AHRS &_ahrs = AP::ahrs();
Location my_loc;
if (!_ahrs.get_position(my_loc)) {
// if we don't know our own location we can't determine any threat level
@ -522,7 +524,7 @@ void AP_Avoidance::handle_avoidance_local(AP_Avoidance::Obstacle *threat)
action = (MAV_COLLISION_ACTION)_fail_action.get();
Location my_loc;
if (action != MAV_COLLISION_ACTION_NONE && _fail_altitude_minimum > 0 &&
_ahrs.get_position(my_loc) && ((my_loc.alt*0.01f) < _fail_altitude_minimum)) {
AP::ahrs().get_position(my_loc) && ((my_loc.alt*0.01f) < _fail_altitude_minimum)) {
// disable avoidance when close to ground, report only
action = MAV_COLLISION_ACTION_REPORT;
}
@ -597,7 +599,7 @@ bool AP_Avoidance::get_vector_perpendicular(const AP_Avoidance::Obstacle *obstac
}
Location my_abs_pos;
if (!_ahrs.get_position(my_abs_pos)) {
if (!AP::ahrs().get_position(my_abs_pos)) {
// we should not get to here! If we don't know our position
// we can't know if there are any threats, for starters!
return false;

10
libraries/AP_Avoidance/AP_Avoidance.h
View File

@ -25,7 +25,6 @@
based on AP_ADSB, Tom Pittenger, November 2015
*/
#include <AP_AHRS/AP_AHRS.h>
#include <AP_ADSB/AP_ADSB.h>
// F_RCVRY possible parameter values
@ -40,6 +39,10 @@
class AP_Avoidance {
public:
// constructor
AP_Avoidance(class AP_ADSB &adsb);
// obstacle class to hold latest information for a known obstacles
class Obstacle {
public:
@ -92,8 +95,6 @@ public:
static const struct AP_Param::GroupInfo var_info[];
protected:
// constructor
AP_Avoidance(AP_AHRS &ahrs, class AP_ADSB &adsb);
// top level avoidance handler. This calls the vehicle specific handle_avoidance with requested action
void handle_avoidance_local(AP_Avoidance::Obstacle *threat);
@ -133,9 +134,6 @@ protected:
static Vector3f perpendicular_xyz(const Location &p1, const Vector3f &v1, const Location &p2);
static Vector2f perpendicular_xy(const Location &p1, const Vector3f &v1, const Location &p2);
// reference to AHRS, so we can ask for our position, heading and speed
const AP_AHRS &_ahrs;
private:
// constants