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AP_Follow: use ahrs singleton

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Peter Barker 2018-03-31 23:27:58 +11:00 committed by Francisco Ferreira
parent ac99d37bc1
commit e33ce5eb48
2 changed files with 3 additions and 7 deletions
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5
libraries/AP_Follow/AP_Follow.cpp
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@ -114,8 +114,7 @@ const AP_Param::GroupInfo AP_Follow::var_info[] = {
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the proximity sensor already know that we should setup the proximity sensor
*/ */
AP_Follow::AP_Follow(const AP_AHRS &ahrs) : AP_Follow::AP_Follow() :
_ahrs(ahrs),
_p_pos(AP_FOLLOW_POS_P_DEFAULT) _p_pos(AP_FOLLOW_POS_P_DEFAULT)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
@ -158,7 +157,7 @@ bool AP_Follow::get_target_dist_and_vel_ned(Vector3f &dist_ned, Vector3f &dist_w
{ {
// get our location // get our location
Location current_loc; Location current_loc;
if (!_ahrs.get_position(current_loc)) { if (!AP::ahrs().get_position(current_loc)) {
return false; return false;
} }

5
libraries/AP_Follow/AP_Follow.h
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@ -36,7 +36,7 @@ public:
}; };
// constructor // constructor
AP_Follow(const AP_AHRS &ahrs); AP_Follow();
// set which target to follow // set which target to follow
void set_target_sysid(uint8_t sysid) { _sysid = sysid; } void set_target_sysid(uint8_t sysid) { _sysid = sysid; }
@ -87,9 +87,6 @@ private:
// get offsets in meters in NED frame // get offsets in meters in NED frame
bool get_offsets_ned(Vector3f &offsets) const; bool get_offsets_ned(Vector3f &offsets) const;
// references
const AP_AHRS &_ahrs;
// parameters // parameters
AP_Int8 _enabled; // 1 if this subsystem is enabled AP_Int8 _enabled; // 1 if this subsystem is enabled
AP_Int16 _sysid; // target's mavlink system id (0 to use first sysid seen) AP_Int16 _sysid; // target's mavlink system id (0 to use first sysid seen)