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Rover: use singletons in AP_Arming

This commit is contained in:
Peter Barker 2018-06-25 15:26:31 +10:00 committed by Peter Barker
parent a1f29e92d1
commit ea12f6caec
3 changed files with 5 additions and 9 deletions
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2
APMrover2/AP_Arming.cpp
View File

@ -67,7 +67,7 @@ bool AP_Arming_Rover::fence_checks(bool report)
{
// check fence is initialised
const char *fail_msg = nullptr;
if (!_fence.pre_arm_check(fail_msg)) {
if (!rover.g2.fence.pre_arm_check(fail_msg)) {
if (report && fail_msg != nullptr) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Fence : %s", fail_msg);
}

10
APMrover2/AP_Arming.h
View File

@ -9,12 +9,8 @@
class AP_Arming_Rover : public AP_Arming
{
public:
AP_Arming_Rover(const AP_AHRS &ahrs_ref, Compass &compass,
const AP_BattMonitor &battery, const AC_Fence &fence)
: AP_Arming(ahrs_ref, compass, battery),
_fence(fence)
{
}
AP_Arming_Rover() : AP_Arming() { }
/* Do not allow copies */
AP_Arming_Rover(const AP_Arming_Rover &other) = delete;
@ -29,5 +25,5 @@ protected:
bool proximity_check(bool report);
private:
const AC_Fence& _fence;
};

2
APMrover2/Rover.h
View File

@ -179,7 +179,7 @@ private:
#endif
// Arming/Disarming management class
AP_Arming_Rover arming{ahrs, compass, battery, g2.fence};
AP_Arming_Rover arming;
AP_L1_Control L1_controller{ahrs, nullptr};