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ArduCopter: add static create method for AP_Avoidance_*

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Lucas De Marchi 2017-09-18 18:39:00 -07:00 committed by Francisco Ferreira
parent 46e8d9b6d1
commit 8f304ed809
1 changed files with 12 additions and 4 deletions
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16
ArduCopter/avoidance_adsb.h
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@ -7,18 +7,26 @@
// AP_Avoidance, this class allows Copter to override base
// functionality - for example, not doing anything while landed.
class AP_Avoidance_Copter : public AP_Avoidance {
public:
static AP_Avoidance_Copter create(AP_AHRS &ahrs, class AP_ADSB &adsb) {
return AP_Avoidance_Copter{ahrs, adsb};
}
AP_Avoidance_Copter(AP_AHRS &ahrs, class AP_ADSB &adsb) :
AP_Avoidance(ahrs, adsb) { }
constexpr AP_Avoidance_Copter(AP_Avoidance_Copter &&other) = default;
/* Do not allow copies */
AP_Avoidance_Copter(const AP_Avoidance_Copter &other) = delete;
AP_Avoidance_Copter &operator=(const AP_Avoidance_Copter&) = delete;
private:
// helper function to set modes and always succeed
void set_mode_else_try_RTL_else_LAND(control_mode_t mode);
protected:
AP_Avoidance_Copter(AP_AHRS &ahrs, class AP_ADSB &adsb)
: AP_Avoidance(ahrs, adsb)
{
}
// override avoidance handler
MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override;