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AP_ICEngine: ICE to use ahrs singleton

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This commit is contained in:
Tom Pittenger 2019-02-04 15:03:07 -07:00 committed by Peter Barker
parent c31e24edcc
commit 79c78ba965
2 changed files with 5 additions and 7 deletions
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8
libraries/AP_ICEngine/AP_ICEngine.cpp
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@ -16,6 +16,7 @@
#include <SRV_Channel/SRV_Channel.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_AHRS/AP_AHRS.h>
#include "AP_ICEngine.h"
extern const AP_HAL::HAL& hal;
@ -106,9 +107,8 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
// constructor
AP_ICEngine::AP_ICEngine(const AP_RPM &_rpm, const AP_AHRS &_ahrs) :
AP_ICEngine::AP_ICEngine(const AP_RPM &_rpm) :
rpm(_rpm),
ahrs(_ahrs),
state(ICE_OFF)
{
AP_Param::setup_object_defaults(this, var_info);
@ -153,7 +153,7 @@ void AP_ICEngine::update(void)
Vector3f pos;
if (!should_run) {
state = ICE_OFF;
} else if (ahrs.get_relative_position_NED_origin(pos)) {
} else if (AP::ahrs().get_relative_position_NED_origin(pos)) {
if (height_pending) {
height_pending = false;
initial_height = -pos.z;
@ -202,7 +202,7 @@ void AP_ICEngine::update(void)
if (state == ICE_START_HEIGHT_DELAY) {
// when disarmed we can be waiting for takeoff
Vector3f pos;
if (ahrs.get_relative_position_NED_origin(pos)) {
if (AP::ahrs().get_relative_position_NED_origin(pos)) {
// reset initial height while disarmed
initial_height = -pos.z;
}

4
libraries/AP_ICEngine/AP_ICEngine.h
View File

@ -19,12 +19,11 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_RPM/AP_RPM.h>
#include <AP_AHRS/AP_AHRS.h>
class AP_ICEngine {
public:
// constructor
AP_ICEngine(const AP_RPM &_rpm, const AP_AHRS &_ahrs);
AP_ICEngine(const AP_RPM &_rpm);
static const struct AP_Param::GroupInfo var_info[];
@ -50,7 +49,6 @@ public:
private:
const AP_RPM &rpm;
const AP_AHRS &ahrs;
enum ICE_State state;