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AP_AdvancedFailsafe: use mission singleton inside AP_AdvancedFailsafe

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Peter Barker 2021-07-30 22:25:40 +10:00 committed by Andrew Tridgell
parent d0969a4476
commit 3013017369
2 changed files with 9 additions and 6 deletions
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7
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
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@ -26,6 +26,7 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_Mission/AP_Mission.h>
AP_AdvancedFailsafe *AP_AdvancedFailsafe::_singleton; AP_AdvancedFailsafe *AP_AdvancedFailsafe::_singleton;
@ -208,6 +209,12 @@ AP_AdvancedFailsafe::check(bool geofence_breached, uint32_t last_valid_rc_ms)
bool gcs_link_ok = ((now - last_heartbeat_ms) < 10000); bool gcs_link_ok = ((now - last_heartbeat_ms) < 10000);
bool gps_lock_ok = ((now - AP::gps().last_fix_time_ms()) < 3000); bool gps_lock_ok = ((now - AP::gps().last_fix_time_ms()) < 3000);
AP_Mission *_mission = AP::mission();
if (_mission == nullptr) {
return;
}
AP_Mission &mission = *_mission;
switch (_state) { switch (_state) {
case STATE_PREFLIGHT: case STATE_PREFLIGHT:
// we startup in preflight mode. This mode ends when // we startup in preflight mode. This mode ends when

8
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
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@ -22,9 +22,8 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Mission/AP_Mission.h>
#include <inttypes.h> #include <inttypes.h>
#include <AP_Common/Location.h>
class AP_AdvancedFailsafe class AP_AdvancedFailsafe
{ {
@ -52,8 +51,7 @@ public:
AP_AdvancedFailsafe &operator=(const AP_AdvancedFailsafe&) = delete; AP_AdvancedFailsafe &operator=(const AP_AdvancedFailsafe&) = delete;
// Constructor // Constructor
AP_AdvancedFailsafe(AP_Mission &_mission) : AP_AdvancedFailsafe()
mission(_mission)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) { if (_singleton != nullptr) {
@ -106,8 +104,6 @@ protected:
enum state _state; enum state _state;
AP_Mission &mission;
AP_Int8 _enable; AP_Int8 _enable;
// digital output pins for communicating with the failsafe board // digital output pins for communicating with the failsafe board
AP_Int8 _heartbeat_pin; AP_Int8 _heartbeat_pin;