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AP_InertialSensor: MPU6000: Fix using copy instead of reference

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In 294298e ("AP_InertialSensor: use method for downcast") I was too eager
to use "auto" and ended up using the implicit copy constructor instead
of actually getting a reference to the object.
This commit is contained in:
Lucas De Marchi 2015-10-01 19:49:21 -03:00
parent aa4d16622e
commit a58bb0fc32
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -952,7 +952,7 @@ AP_MPU6000_AuxiliaryBusSlave::AP_MPU6000_AuxiliaryBusSlave(AuxiliaryBus &bus, ui
int AP_MPU6000_AuxiliaryBusSlave::_set_passthrough(uint8_t reg, uint8_t size,
uint8_t *out)
{
auto backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
auto &backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
uint8_t addr;
/* Ensure the slave read/write is disabled before changing the registers */
@ -989,7 +989,7 @@ int AP_MPU6000_AuxiliaryBusSlave::passthrough_read(uint8_t reg, uint8_t *buf,
/* wait the value to be read from the slave and read it back */
hal.scheduler->delay(10);
auto backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
auto &backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
backend._read_block(MPUREG_EXT_SENS_DATA_00 + _ext_sens_data, buf, size);
/* disable new reads */
@ -1012,7 +1012,7 @@ int AP_MPU6000_AuxiliaryBusSlave::passthrough_write(uint8_t reg, uint8_t val)
/* wait the value to be written to the slave */
hal.scheduler->delay(10);
auto backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
auto &backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
/* disable new writes */
backend._register_write(_mpu6000_ctrl, 0);
@ -1027,7 +1027,7 @@ int AP_MPU6000_AuxiliaryBusSlave::read(uint8_t *buf)
return -1;
}
auto backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
auto &backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
backend._read_block(MPUREG_EXT_SENS_DATA_00 + _ext_sens_data, buf, _sample_size);
return 0;
@ -1056,7 +1056,7 @@ AuxiliaryBusSlave *AP_MPU6000_AuxiliaryBus::_instantiate_slave(uint8_t addr, uin
void AP_MPU6000_AuxiliaryBus::_configure_slaves()
{
auto backend = AP_InertialSensor_MPU6000::from(_ins_backend);
auto &backend = AP_InertialSensor_MPU6000::from(_ins_backend);
uint8_t user_ctrl;
user_ctrl = backend._register_read(MPUREG_USER_CTRL);