From 7d024095c6b87bd9eda712de242de7f24af1510f Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 6 Mar 2018 08:05:20 +1100 Subject: [PATCH] Tracker: use baro singleton --- AntennaTracker/GCS_Mavlink.cpp | 4 ++-- AntennaTracker/Log.cpp | 2 +- AntennaTracker/Tracker.h | 8 ++++---- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp index fe810420b7..9ea5104e1b 100644 --- a/AntennaTracker/GCS_Mavlink.cpp +++ b/AntennaTracker/GCS_Mavlink.cpp @@ -202,12 +202,12 @@ bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id) case MSG_RAW_IMU2: CHECK_PAYLOAD_SIZE(SCALED_PRESSURE); - send_scaled_pressure(tracker.barometer); + send_scaled_pressure(); break; case MSG_RAW_IMU3: CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS); - send_sensor_offsets(tracker.ins, tracker.compass, tracker.barometer); + send_sensor_offsets(tracker.ins, tracker.compass); break; case MSG_SIMSTATE: diff --git a/AntennaTracker/Log.cpp b/AntennaTracker/Log.cpp index f905d42186..d003d8abb7 100644 --- a/AntennaTracker/Log.cpp +++ b/AntennaTracker/Log.cpp @@ -21,7 +21,7 @@ void Tracker::Log_Write_Attitude() void Tracker::Log_Write_Baro(void) { - DataFlash.Log_Write_Baro(barometer); + DataFlash.Log_Write_Baro(); } struct PACKED log_Vehicle_Baro { diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h index 7b6ea50a86..3923b911b4 100644 --- a/AntennaTracker/Tracker.h +++ b/AntennaTracker/Tracker.h @@ -116,11 +116,11 @@ private: // Inertial Navigation EKF #if AP_AHRS_NAVEKF_AVAILABLE - 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}; #else - AP_AHRS_DCM ahrs{ins, barometer}; + AP_AHRS_DCM ahrs{ins}; #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL