AP_Beacon: tidy constructors

libraries/AP_Beacon/AP_Beacon.cpp

@@ -95,11 +95,11 @@ void AP_Beacon::init(void)
 
     // create backend
     if (_type == AP_BeaconType_Pozyx) {
-        _driver = new AP_Beacon_Pozyx(*this, serial_manager);
+        _driver = new AP_Beacon_Pozyx(*this);
     } else if (_type == AP_BeaconType_Marvelmind) {
-        _driver = new AP_Beacon_Marvelmind(*this, serial_manager);
+        _driver = new AP_Beacon_Marvelmind(*this);
     } else if (_type == AP_BeaconType_Nooploop) {
-        _driver = new AP_Beacon_Nooploop(*this, serial_manager);
+        _driver = new AP_Beacon_Nooploop(*this);
     }
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     if (_type == AP_BeaconType_SITL) {

libraries/AP_Beacon/AP_Beacon_Backend.cpp

@@ -24,6 +24,13 @@
 AP_Beacon_Backend::AP_Beacon_Backend(AP_Beacon &frontend) :
     _frontend(frontend)
 {
+    const AP_SerialManager &serialmanager = AP::serialmanager();
+    uart = serialmanager.find_serial(AP_SerialManager::SerialProtocol_Beacon, 0);
+    if (uart == nullptr) {
+        return;
+    }
+
+    uart->begin(serialmanager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));
 }
 
 // set vehicle position

libraries/AP_Beacon/AP_Beacon_Backend.h

@@ -59,4 +59,6 @@ protected:
 
     // yaw correction methods
     Vector3f correct_for_orient_yaw(const Vector3f &vector);
+
+    AP_HAL::UARTDriver *uart;
 };

libraries/AP_Beacon/AP_Beacon_Marvelmind.cpp

@@ -39,23 +39,6 @@ extern const AP_HAL::HAL& hal;
   #define Debug(level, fmt, args ...)
 #endif
 
-AP_Beacon_Marvelmind::AP_Beacon_Marvelmind(AP_Beacon &frontend, AP_SerialManager &serial_manager) :
-    AP_Beacon_Backend(frontend)
-{
-    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Beacon, 0);
-    if (uart != nullptr) {
-        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));
-        last_update_ms = 0;
-        parse_state = RECV_HDR; // current state of receive data
-        num_bytes_in_block_received = 0; // bytes received
-        data_id = 0;
-        hedge._have_new_values = false;
-        hedge.positions_beacons.num_beacons = 0;
-        hedge.positions_beacons.updated = false;
-
-    }
-}
-
 void AP_Beacon_Marvelmind::process_position_datagram()
 {
     hedge.cur_position.address = input_buffer[16];

libraries/AP_Beacon/AP_Beacon_Marvelmind.h

@@ -29,7 +29,7 @@ class AP_Beacon_Marvelmind : public AP_Beacon_Backend
 public:
 
     // constructor
-    AP_Beacon_Marvelmind(AP_Beacon &frontend, AP_SerialManager &serial_manager);
+    using AP_Beacon_Backend::AP_Beacon_Backend;
 
     // return true if sensor is basically healthy (we are receiving data)
     bool healthy() override;
@@ -72,7 +72,7 @@ private:
     enum {
         RECV_HDR,
         RECV_DGRAM
-    } parse_state; // current state of receive data
+    } parse_state = RECV_HDR; // current state of receive data
 
     MarvelmindHedge hedge;
     uint8_t input_buffer[AP_BEACON_MARVELMIND_BUF_SIZE];
@@ -90,7 +90,6 @@ private:
     int8_t find_beacon_instance(uint8_t address) const;
 
     // Variables for Ardupilot
-    AP_HAL::UARTDriver *uart;
     uint32_t last_update_ms;
 
     // cache the vehicle position in NED coordinates [m]

libraries/AP_Beacon/AP_Beacon_Nooploop.cpp

@@ -42,15 +42,6 @@
 
 extern const AP_HAL::HAL& hal;
 
-AP_Beacon_Nooploop::AP_Beacon_Nooploop(AP_Beacon &frontend, AP_SerialManager &serial_manager) :
-    AP_Beacon_Backend(frontend)
-{
-    _uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Beacon, 0);
-    if (_uart != nullptr) {
-        _uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));
-    }
-}
-
 // return true if sensor is basically healthy (we are receiving data)
 bool AP_Beacon_Nooploop::healthy()
 {

libraries/AP_Beacon/AP_Beacon_Nooploop.h

@@ -8,7 +8,8 @@ class AP_Beacon_Nooploop : public AP_Beacon_Backend
 {
 
 public:
-    AP_Beacon_Nooploop(AP_Beacon &frontend, AP_SerialManager &serial_manager);
+    // constructor
+    using AP_Beacon_Backend::AP_Beacon_Backend;
 
     // return true if sensor is basically healthy (we are receiving data)
     bool healthy() override;

libraries/AP_Beacon/AP_Beacon_Pozyx.cpp

@@ -20,16 +20,6 @@
 
 extern const AP_HAL::HAL& hal;
 
-// constructor
-AP_Beacon_Pozyx::AP_Beacon_Pozyx(AP_Beacon &frontend, AP_SerialManager &serial_manager) :
-    AP_Beacon_Backend(frontend)
-{
-    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Beacon, 0);
-    if (uart != nullptr) {
-        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));
-    }
-}
-
 // return true if sensor is basically healthy (we are receiving data)
 bool AP_Beacon_Pozyx::healthy()
 {

libraries/AP_Beacon/AP_Beacon_Pozyx.h

@@ -14,7 +14,7 @@ class AP_Beacon_Pozyx : public AP_Beacon_Backend
 
 public:
     // constructor
-    AP_Beacon_Pozyx(AP_Beacon &frontend, AP_SerialManager &serial_manager);
+    using AP_Beacon_Backend::AP_Beacon_Backend;
 
     // return true if sensor is basically healthy (we are receiving data)
     bool healthy() override;
@@ -37,7 +37,6 @@ private:
     uint8_t parse_msg_id;
     uint8_t parse_msg_len;
 
-    AP_HAL::UARTDriver *uart = nullptr;
     uint8_t linebuf[AP_BEACON_POZYX_MSG_LEN_MAX];
     uint8_t linebuf_len = 0;
     uint32_t last_update_ms = 0;