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Arming: accept non-const compass in constructor

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The compass.configured() method checks the eeprom and cannot be const
meaning the Arming object requires a non-const reference to the compass.
Removed check for null compass because the compass object is always
created although this could lead to unnecessary pre-arn check failures
even though compass-use is set to false.
This commit is contained in:
Randy Mackay 2014-07-10 22:47:59 +09:00
parent 4995b9ada8
commit fa2f5d9c68
2 changed files with 6 additions and 18 deletions
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21
libraries/AP_Arming/AP_Arming.cpp
View File

@ -46,12 +46,13 @@ const AP_Param::GroupInfo AP_Arming::var_info[] PROGMEM = {
//The function point is particularly hacky, hacky, tacky
//but I don't want to reimplement messaging to GCS at the moment:
AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro,
AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const bool &home_set, gcs_send_t_p gcs_print_func)
: armed(false)
, arming_method(NONE)
, ahrs(ahrs_ref)
, barometer(baro)
, _compass(compass)
, home_is_set(home_set)
, gcs_send_text_P(gcs_print_func)
{
@ -91,29 +92,15 @@ bool AP_Arming::compass_checks(bool report)
{
if ((checks_to_perform) & ARMING_CHECK_ALL ||
(checks_to_perform) & ARMING_CHECK_COMPASS) {
const Compass* compass = ahrs.get_compass();
//if there is no compass and the user has specifically asked to check
//the compass, then there is a problem
if (compass == NULL && (checks_to_perform & ARMING_CHECK_COMPASS)) {
if (report) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: No compass detected."));
}
return false;
} else if (compass == NULL) {
//if the user's not asking to check and there isn't a compass
//then skip compass checks
return true;
}
if (! compass->healthy()) {
if (!_compass.healthy()) {
if (report) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy!"));
}
return false;
}
// check compass learning is on or offsets have been set
if (!compass.learn_offsets_enabled() && !compass.configured()) {
if (!_compass.learn_offsets_enabled() && !_compass.configured()) {
if (report) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated"));
}

3
libraries/AP_Arming/AP_Arming.h
View File

@ -38,7 +38,7 @@ public:
//for the hacky funciton pointer to gcs_send_text_p
typedef void (*gcs_send_t_p)(gcs_severity, const prog_char_t*);
AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro,
AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const bool &home_set, gcs_send_t_p);
ArmingRequired arming_required();
@ -67,6 +67,7 @@ private:
const AP_AHRS &ahrs;
const AP_Baro &barometer;
Compass &_compass;
const bool &home_is_set;
gcs_send_t_p gcs_send_text_P;