From 1e476e511acc2bd06f83ec2ef319bb5a28bb41a4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 2 Jan 2014 17:06:30 +1100
Subject: [PATCH] AP_AHRS: pass baro into AP_AHRS

first step in making AHRS handle altitude
---
 libraries/AP_AHRS/AP_AHRS.h        | 12 +++++++++---
 libraries/AP_AHRS/AP_AHRS_DCM.h    |  4 ++--
 libraries/AP_AHRS/AP_AHRS_NavEKF.h |  4 ++--
 3 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 333ee7b77d..b797bcf830 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -37,16 +37,17 @@ class AP_AHRS
 {
 public:
     // Constructor
-    AP_AHRS(AP_InertialSensor &ins, GPS *&gps) :
+    AP_AHRS(AP_InertialSensor &ins, AP_Baro &baro, GPS *&gps) :
         _compass(NULL),
         _ins(ins),
-        _gps(gps),
         _cos_roll(1.0f),
         _cos_pitch(1.0f),
         _cos_yaw(1.0f),
         _sin_roll(0.0f),
         _sin_pitch(0.0f),
-        _sin_yaw(0.0f)
+        _sin_yaw(0.0f),
+        _baro(baro),
+        _gps(gps)
     {
         // load default values from var_info table
         AP_Param::setup_object_defaults(this, var_info);
@@ -110,6 +111,10 @@ public:
 	    return _ins;
     }
 
+    const AP_Baro &get_baro() const {
+	    return _baro;
+    }
+
     // accelerometer values in the earth frame in m/s/s
     const Vector3f &get_accel_ef(void) const { return _accel_ef; }
 
@@ -305,6 +310,7 @@ protected:
     // note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
     //       IMU under us without our noticing.
     AP_InertialSensor   &_ins;
+    AP_Baro             &_baro;
     GPS                 *&_gps;
 
     // a vector to capture the difference between the controller and body frames
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 9cc56ccf06..2c6cb3eb2e 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -25,8 +25,8 @@ class AP_AHRS_DCM : public AP_AHRS
 {
 public:
     // Constructors
-    AP_AHRS_DCM(AP_InertialSensor &ins, GPS *&gps) :
-        AP_AHRS(ins, gps),
+    AP_AHRS_DCM(AP_InertialSensor &ins, AP_Baro &baro, GPS *&gps) :
+        AP_AHRS(ins, baro, gps),
         _last_declination(0),
         _mag_earth(1,0)
     {
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index c682b96046..2b6565fbd2 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -32,8 +32,8 @@ class AP_AHRS_NavEKF : public AP_AHRS_DCM
 {
 public:
     // Constructor
-    AP_AHRS_NavEKF(AP_InertialSensor &ins, GPS *&gps, AP_Baro &baro) :
-        AP_AHRS_DCM(ins, gps),
+    AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, GPS *&gps) :
+        AP_AHRS_DCM(ins, baro, gps),
         EKF(this, baro),
         _baro(baro),
         ekf_started(false),