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Plane: AP_Arming: use callback in place of variable reference for home state

This commit is contained in:
Peter Barker 2016-08-15 13:37:28 +10:00 committed by Randy Mackay
parent ddf172c75b
commit fc28beacea
2 changed files with 9 additions and 3 deletions
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8
ArduPlane/Plane.h
View File

@ -118,8 +118,8 @@ class AP_Arming_Plane : public AP_Arming
{
public:
AP_Arming_Plane(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const AP_BattMonitor &battery, const enum HomeState &home_set) :
AP_Arming(ahrs_ref, baro, compass, battery, home_set) {
const AP_BattMonitor &battery) :
AP_Arming(ahrs_ref, baro, compass, battery) {
AP_Param::setup_object_defaults(this, var_info);
}
bool pre_arm_checks(bool report);
@ -127,8 +127,10 @@ public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
bool ins_checks(bool report);
enum HomeState home_status() const override;
};
@ -766,7 +768,7 @@ private:
#endif
// Arming/Disarming mangement class
AP_Arming_Plane arming {ahrs, barometer, compass, battery, home_is_set };
AP_Arming_Plane arming {ahrs, barometer, compass, battery};
AP_Param param_loader {var_info};

4
ArduPlane/arming_checks.cpp
View File

@ -17,6 +17,10 @@ const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = {
AP_GROUPEND
};
enum HomeState AP_Arming_Plane::home_status() const
{
return plane.home_is_set;
}
bool AP_Arming_Plane::arm(uint8_t method)
{