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AP_Baro: make AP_Baro a singleton

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for AP_Airspeed
This commit is contained in:
rde-mato 2017-11-03 15:43:44 +11:00 committed by Andrew Tridgell
parent d7bbf9bf66
commit e23a2c5254
2 changed files with 17 additions and 0 deletions
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5
libraries/AP_Baro/AP_Baro.cpp
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@ -130,11 +130,16 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
AP_GROUPEND
};
// singleton instance
AP_Baro *AP_Baro::_instance;
/*
AP_Baro constructor
*/
AP_Baro::AP_Baro()
{
_instance = this;
AP_Param::setup_object_defaults(this, var_info);
}

12
libraries/AP_Baro/AP_Baro.h
View File

@ -27,6 +27,15 @@ public:
// constructor
AP_Baro();
/* Do not allow copies */
AP_Baro(const AP_Baro &other) = delete;
AP_Baro &operator=(const AP_Baro&) = delete;
// get singleton
static AP_Baro *get_instance(void) {
return _instance;
}
// barometer types
typedef enum {
BARO_TYPE_AIR,
@ -161,6 +170,9 @@ public:
void set_pressure_correction(uint8_t instance, float p_correction);
private:
// singleton
static AP_Baro *_instance;
// how many drivers do we have?
uint8_t _num_drivers;
AP_Baro_Backend *drivers[BARO_MAX_DRIVERS];