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Mount_AlexMos: use reference to state

This commit is contained in:
Randy Mackay 2015-01-19 10:40:51 +09:00 committed by Andrew Tridgell
parent b083c99966
commit ee369f8a0d
2 changed files with 6 additions and 6 deletions
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8
libraries/AP_Mount/AP_Mount_Alexmos.cpp
View File

@ -25,12 +25,12 @@ void AP_Mount_Alexmos::update()
switch(_frontend.get_mode(_instance)) {
// move mount to a "retracted" position. we do not implement a separate servo based retract mechanism
case MAV_MOUNT_MODE_RETRACT:
control_axis(_frontend.state[_instance]._retract_angles.get(), true);
control_axis(_state._retract_angles.get(), true);
break;
// move mount to a neutral position, typically pointing forward
case MAV_MOUNT_MODE_NEUTRAL:
control_axis(_frontend.state[_instance]._neutral_angles.get(), true);
control_axis(_state._neutral_angles.get(), true);
break;
// point to the angles given by a mavlink message
@ -48,7 +48,7 @@ void AP_Mount_Alexmos::update()
// point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT:
if(_frontend._ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
calc_angle_to_location(_frontend.state[_instance]._roi_target, _angle_ef_target_rad, true, false);
calc_angle_to_location(_state._roi_target, _angle_ef_target_rad, true, false);
control_axis(_angle_ef_target_rad, false);
}
break;
@ -69,7 +69,7 @@ bool AP_Mount_Alexmos::has_pan_control() const
void AP_Mount_Alexmos::set_mode(enum MAV_MOUNT_MODE mode)
{
// record the mode change and return success
_frontend.state[_instance]._mode = mode;
_state._mode = mode;
}
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message

4
libraries/AP_Mount/AP_Mount_Alexmos.h
View File

@ -70,8 +70,8 @@ class AP_Mount_Alexmos : public AP_Mount_Backend
{
public:
//constructor
AP_Mount_Alexmos(AP_Mount &frontend, uint8_t instance):
AP_Mount_Backend(frontend, instance),
AP_Mount_Alexmos(AP_Mount &frontend, AP_Mount::mount_state state, uint8_t instance):
AP_Mount_Backend(frontend, state, instance),
_initialised(false),
_board_version(0),
_current_firmware_version(0.0f),