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AP_OpticalFlow: use AHRS singleton

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This commit is contained in:
Peter Barker 2018-09-02 16:54:04 +10:00 committed by Andrew Tridgell
parent 12c67ecaab
commit e88358ccc6
4 changed files with 3 additions and 9 deletions
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2
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
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@ -289,7 +289,7 @@ void AP_OpticalFlow_Pixart::timer(void)
uint32_t dt_us = last_burst_us - integral.last_frame_us;
float dt = dt_us * 1.0e-6;
const Vector3f &gyro = get_ahrs().get_gyro();
const Vector3f &gyro = AP::ahrs_navekf().get_gyro();
{
WITH_SEMAPHORE(_sem);

4
libraries/AP_OpticalFlow/OpticalFlow.cpp
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@ -69,9 +69,7 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = {
};
// default constructor
OpticalFlow::OpticalFlow(AP_AHRS_NavEKF &ahrs)
: _ahrs(ahrs),
_last_update_ms(0)
OpticalFlow::OpticalFlow()
{
_singleton = this;

3
libraries/AP_OpticalFlow/OpticalFlow.h
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@ -30,7 +30,7 @@ class OpticalFlow
friend class OpticalFlow_backend;
public:
OpticalFlow(AP_AHRS_NavEKF& ahrs);
OpticalFlow();
/* Do not allow copies */
OpticalFlow(const OpticalFlow &other) = delete;
@ -87,7 +87,6 @@ private:
static OpticalFlow *_singleton;
AP_AHRS_NavEKF &_ahrs;
OpticalFlow_backend *backend;
struct AP_OpticalFlow_Flags {

3
libraries/AP_OpticalFlow/OpticalFlow_backend.h
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@ -50,9 +50,6 @@ protected:
// apply yaw angle to a vector
void _applyYaw(Vector2f &v);
// get access to AHRS object
AP_AHRS_NavEKF &get_ahrs(void) { return frontend._ahrs; }
// get ADDR parameter value
uint8_t get_address(void) const { return frontend._address; }