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Mount_MAVLink: use reference to state

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Randy Mackay 2015-01-19 10:40:40 +09:00 committed by Andrew Tridgell
parent 32ea258594
commit b083c99966
2 changed files with 7 additions and 7 deletions
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10
libraries/AP_Mount/AP_Mount_MAVLink.cpp
View File

@ -16,12 +16,12 @@ void AP_Mount_MAVLink::update()
switch(_frontend.get_mode(_instance)) {
// move mount to a "retracted" position. we do not implement a separate servo based retract mechanism
case MAV_MOUNT_MODE_RETRACT:
send_angle_target(_frontend.state[_instance]._retract_angles.get(), true);
send_angle_target(_state._retract_angles.get(), true);
break;
// move mount to a neutral position, typically pointing forward
case MAV_MOUNT_MODE_NEUTRAL:
send_angle_target(_frontend.state[_instance]._neutral_angles.get(), true);
send_angle_target(_state._neutral_angles.get(), true);
break;
// point to the angles given by a mavlink message
@ -39,7 +39,7 @@ void AP_Mount_MAVLink::update()
// point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT:
if(_frontend._ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
calc_angle_to_location(_frontend.state[_instance]._roi_target, _angle_ef_target_rad, true, false);
calc_angle_to_location(_state._roi_target, _angle_ef_target_rad, true, false);
send_angle_target(_angle_ef_target_rad, false);
}
break;
@ -85,7 +85,7 @@ void AP_Mount_MAVLink::set_mode(enum MAV_MOUNT_MODE mode)
0.0f, 0.0f, 0.0f,0.0f, 0.0f); // param3 ~ param 7: not used
// record the mode change
_frontend.state[_instance]._mode = mode;
_state._mode = mode;
_last_mode = mode_to_send;
}
@ -105,7 +105,7 @@ void AP_Mount_MAVLink::send_angle_target(const Vector3f& target, bool target_in_
}
// exit immediately if mode and targets have not changed since last time they were sent
if (_frontend.state[_instance]._mode == MAV_MOUNT_MODE_MAVLINK_TARGETING && target_deg == _last_angle_target) {
if (_state._mode == MAV_MOUNT_MODE_MAVLINK_TARGETING && target_deg == _last_angle_target) {
return;
}

4
libraries/AP_Mount/AP_Mount_MAVLink.h
View File

@ -22,8 +22,8 @@ class AP_Mount_MAVLink : public AP_Mount_Backend
public:
// Constructor
AP_Mount_MAVLink(AP_Mount &frontend, uint8_t instance) :
AP_Mount_Backend(frontend, instance),
AP_Mount_MAVLink(AP_Mount &frontend, AP_Mount::mount_state state, uint8_t instance) :
AP_Mount_Backend(frontend, state, instance),
_chan(MAVLINK_COMM_0),
_last_mode(MAV_MOUNT_MODE_RETRACT)
{}