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AP_Mount: convert to new GPS API

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This commit is contained in:
Andrew Tridgell 2014-03-30 22:00:00 +11:00
parent f07e4dee52
commit eb67948171
2 changed files with 4 additions and 6 deletions
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7
libraries/AP_Mount/AP_Mount.cpp
View File

@ -216,9 +216,8 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
AP_GROUPEND
};
AP_Mount::AP_Mount(const struct Location *current_loc, GPS *&gps, const AP_AHRS &ahrs, uint8_t id) :
_ahrs(ahrs),
_gps(gps)
AP_Mount::AP_Mount(const struct Location *current_loc, const AP_AHRS &ahrs, uint8_t id) :
_ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
_current_loc = current_loc;
@ -381,7 +380,7 @@ void AP_Mount::update_mount_position()
// point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT:
{
if(_gps->fix) {
if(_ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
calc_GPS_target_angle(&_target_GPS_location);
stabilize();
}

3
libraries/AP_Mount/AP_Mount.h
View File

@ -32,7 +32,7 @@ class AP_Mount
{
public:
//Constructor
AP_Mount(const struct Location *current_loc, GPS *&gps, const AP_AHRS &ahrs, uint8_t id);
AP_Mount(const struct Location *current_loc, const AP_AHRS &ahrs, uint8_t id);
//enums
enum MountType {
@ -88,7 +88,6 @@ private:
//members
const AP_AHRS &_ahrs; ///< Rotation matrix from earth to plane.
GPS *& _gps;
const struct Location * _current_loc;
struct Location _target_GPS_location;
MountType _mount_type;