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AC_Fence: stop taking reference to AHRS in constructor

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This commit is contained in:
Peter Barker 2019-01-31 11:37:22 +11:00 committed by Randy Mackay
parent 11dd83e23a
commit 6313cbca0b
2 changed files with 11 additions and 15 deletions
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21
libraries/AC_Fence/AC_Fence.cpp
View File

@ -80,8 +80,7 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
};
/// Default constructor.
AC_Fence::AC_Fence(const AP_AHRS_NavEKF& ahrs) :
_ahrs(ahrs)
AC_Fence::AC_Fence()
{
AP_Param::setup_object_defaults(this, var_info);
}
@ -157,11 +156,11 @@ bool AC_Fence::pre_arm_check(const char* &fail_msg) const
}
// if we have horizontal limits enabled, check we can get a
// relative position from the EKF
// relative position from the AHRS
if ((_enabled_fences & AC_FENCE_TYPE_CIRCLE) ||
(_enabled_fences & AC_FENCE_TYPE_POLYGON)) {
Vector2f position;
if (!_ahrs.get_relative_position_NE_home(position)) {
if (AP::ahrs().get_relative_position_NE_home(position)) {
fail_msg = "fence requires position";
return false;
}
@ -191,7 +190,7 @@ bool AC_Fence::check_fence_alt_max()
return false;
}
_ahrs.get_relative_position_D_home(_curr_alt);
AP::ahrs().get_relative_position_D_home(_curr_alt);
_curr_alt = -_curr_alt; // translate Down to Up
// check if we are over the altitude fence
@ -250,7 +249,7 @@ bool AC_Fence::check_fence_polygon()
// check if vehicle is outside the polygon fence
Vector2f position;
if (!_ahrs.get_relative_position_NE_origin(position)) {
if (!AP::ahrs().get_relative_position_NE_origin(position)) {
// we have no idea where we are; can't breach the fence
return false;
}
@ -283,7 +282,7 @@ bool AC_Fence::check_fence_circle()
}
Vector2f home;
if (_ahrs.get_relative_position_NE_home(home)) {
if (AP::ahrs().get_relative_position_NE_home(home)) {
// we (may) remain breached if we can't update home
_home_distance = home.length();
}
@ -374,7 +373,7 @@ bool AC_Fence::check_destination_within_fence(const Location& loc)
// Circular fence check
if ((get_enabled_fences() & AC_FENCE_TYPE_CIRCLE)) {
if ((get_distance_cm(_ahrs.get_home(), loc) * 0.01f) > _circle_radius) {
if ((get_distance_cm(AP::ahrs().get_home(), loc) * 0.01f) > _circle_radius) {
return false;
}
}
@ -540,11 +539,11 @@ bool AC_Fence::load_polygon_from_eeprom(bool force_reload)
// get current location from EKF
Location temp_loc;
if (!_ahrs.get_location(temp_loc)) {
if (!AP::ahrs_navekf().get_location(temp_loc)) {
return false;
}
struct Location ekf_origin {};
_ahrs.get_origin(ekf_origin);
AP::ahrs().get_origin(ekf_origin);
// sanity check total
_total = constrain_int16(_total, 0, _poly_loader.max_points());
@ -612,7 +611,7 @@ bool AC_Fence::sys_status_failed() const
if ((_enabled_fences & AC_FENCE_TYPE_CIRCLE) ||
(_enabled_fences & AC_FENCE_TYPE_POLYGON)) {
Vector2f position;
if (!_ahrs.get_relative_position_NE_home(position)) {
if (!AP::ahrs().get_relative_position_NE_home(position)) {
// both these fence types require position
return true;
}

5
libraries/AC_Fence/AC_Fence.h
View File

@ -36,7 +36,7 @@
class AC_Fence
{
public:
AC_Fence(const AP_AHRS_NavEKF &ahrs);
AC_Fence();
/* Do not allow copies */
AC_Fence(const AC_Fence &other) = delete;
@ -141,9 +141,6 @@ private:
/// load polygon points stored in eeprom into boundary array and perform validation. returns true if load successfully completed
bool load_polygon_from_eeprom(bool force_reload = false);
// pointers to other objects we depend upon
const AP_AHRS_NavEKF& _ahrs;
// parameters
AP_Int8 _enabled; // top level enable/disable control
AP_Int8 _enabled_fences; // bit mask holding which fences are enabled