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Tools: Replay: use baro singleton

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This commit is contained in:
Peter Barker 2018-03-06 07:38:10 +11:00 committed by Lucas De Marchi
parent 06f6135daa
commit 3a718366e1
5 changed files with 11 additions and 14 deletions
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2
Tools/Replay/LR_MsgHandler.cpp
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@ -105,7 +105,7 @@ void LR_MsgHandler_BARO::process_message(uint8_t *msg)
if (!field_value(msg, "SMS", last_update_ms)) {
last_update_ms = 0;
}
baro.setHIL(0,
AP::baro().setHIL(0,
require_field_float(msg, "Press"),
require_field_int16_t(msg, "Temp") * 0.01f,
require_field_float(msg, "Alt"),

7
Tools/Replay/LR_MsgHandler.h
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@ -113,13 +113,12 @@ class LR_MsgHandler_BARO : public LR_MsgHandler
{
public:
LR_MsgHandler_BARO(log_Format &_f, DataFlash_Class &_dataflash,
uint64_t &_last_timestamp_usec, AP_Baro &_baro)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), baro(_baro) { };
uint64_t &_last_timestamp_usec)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec)
{ };
virtual void process_message(uint8_t *msg);
private:
AP_Baro &baro;
};

5
Tools/Replay/LogReader.cpp
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@ -39,13 +39,12 @@ const struct LogStructure log_structure[] = {
"FBBBGGB000"}
};
LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps,
LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, Compass &_compass, AP_GPS &_gps,
AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const char **&_nottypes):
DataFlashFileReader(),
vehicle(VehicleType::VEHICLE_UNKNOWN),
ahrs(_ahrs),
ins(_ins),
baro(_baro),
compass(_compass),
gps(_gps),
airspeed(_airspeed),
@ -231,7 +230,7 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
sim_attitude);
} else if (streq(name, "BARO")) {
msgparser[f.type] = new LR_MsgHandler_BARO(formats[f.type], dataflash,
last_timestamp_usec, baro);
last_timestamp_usec);
} else if (streq(name, "ARM")) {
msgparser[f.type] = new LR_MsgHandler_ARM(formats[f.type], dataflash,
last_timestamp_usec);

3
Tools/Replay/LogReader.h
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@ -6,7 +6,7 @@
class LogReader : public DataFlashFileReader
{
public:
LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const char **&nottypes);
LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, Compass &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const char **&nottypes);
bool wait_type(const char *type);
const Vector3f &get_attitude(void) const { return attitude; }
@ -37,7 +37,6 @@ protected:
private:
AP_AHRS &ahrs;
AP_InertialSensor &ins;
AP_Baro &baro;
Compass &compass;
AP_GPS &gps;
AP_Airspeed &airspeed;

8
Tools/Replay/Replay.h
View File

@ -64,9 +64,9 @@ public:
Compass compass;
AP_SerialManager serial_manager;
RangeFinder rng{serial_manager, ROTATION_PITCH_270};
NavEKF2 EKF2{&ahrs, barometer, rng};
NavEKF3 EKF3{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3};
NavEKF2 EKF2{&ahrs, rng};
NavEKF3 EKF3{&ahrs, rng};
AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3};
AP_InertialNav_NavEKF inertial_nav{ahrs};
AP_Vehicle::FixedWing aparm;
AP_Airspeed airspeed;
@ -121,7 +121,7 @@ private:
SITL::SITL sitl;
#endif
LogReader logreader{_vehicle.ahrs, _vehicle.ins, _vehicle.barometer, _vehicle.compass, _vehicle.gps, _vehicle.airspeed, _vehicle.dataflash, nottypes};
LogReader logreader{_vehicle.ahrs, _vehicle.ins, _vehicle.compass, _vehicle.gps, _vehicle.airspeed, _vehicle.dataflash, nottypes};
FILE *ekf1f;
FILE *ekf2f;