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AP_Landing: Fix AP_GPS.h include, use a ref to the singleton

This commit is contained in:
Michael du Breuil 2019-06-13 19:58:39 -07:00 committed by Andrew Tridgell
parent f8750a6d18
commit f6f432a785
1 changed files with 5 additions and 3 deletions
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8
libraries/AP_Landing/AP_Landing_Slope.cpp
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@ -21,6 +21,7 @@
#include <GCS_MAVLink/GCS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_LandingGear/AP_LandingGear.h>
#include <AP_GPS/AP_GPS.h>
void AP_Landing::type_slope_do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
{
@ -92,14 +93,15 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
(!rangefinder_state_in_range && wp_proportion >= 1) ||
probably_crashed) {
const AP_GPS &gps = AP::gps();
if (type_slope_stage != SLOPE_STAGE_FINAL) {
type_slope_flags.post_stats = true;
if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)AP::gps().ground_speed());
gcs().send_text(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed());
} else {
gcs().send_text(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
(double)height, (double)sink_rate,
(double)AP::gps().ground_speed(),
(double)gps.ground_speed(),
(double)current_loc.get_distance(next_WP_loc));
}
@ -114,7 +116,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
}
}
if (AP::gps().ground_speed() < 3) {
if (gps.ground_speed() < 3) {
// reload any airspeed or groundspeed parameters that may have
// been set for landing. We don't do this till ground
// speed drops below 3.0 m/s as otherwise we will change