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AP_Mount: use GPS singleton

This commit is contained in:
Peter Barker 2017-12-02 10:46:20 +11:00 committed by Francisco Ferreira
parent a4584431a2
commit fb3cba3867
5 changed files with 5 additions and 5 deletions
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2
libraries/AP_Mount/AP_Mount_Alexmos.cpp
View File

@ -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) {
if(AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
calc_angle_to_location(_state._roi_target, _angle_ef_target_rad, true, false);
control_axis(_angle_ef_target_rad, false);
}

2
libraries/AP_Mount/AP_Mount_SToRM32.cpp
View File

@ -61,7 +61,7 @@ void AP_Mount_SToRM32::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) {
if(AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
calc_angle_to_location(_state._roi_target, _angle_ef_target_rad, true, true);
resend_now = true;
}

2
libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
View File

@ -76,7 +76,7 @@ void AP_Mount_SToRM32_serial::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) {
if(AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
calc_angle_to_location(_state._roi_target, _angle_ef_target_rad, true, true);
resend_now = true;
}

2
libraries/AP_Mount/AP_Mount_Servo.cpp
View File

@ -69,7 +69,7 @@ void AP_Mount_Servo::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) {
if(AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
calc_angle_to_location(_state._roi_target, _angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, false);
stabilize();
}

2
libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
View File

@ -70,7 +70,7 @@ void AP_Mount_SoloGimbal::update()
// point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT:
_gimbal.set_lockedToBody(false);
if(_frontend._ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
if(AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
calc_angle_to_location(_state._roi_target, _angle_ef_target_rad, true, true);
}
break;