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AP_Common: use singleton to access AP_Terrain data

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This commit is contained in:
Peter Barker 2021-02-13 14:46:34 +11:00 committed by Andrew Tridgell
parent 2d28c1065e
commit b625596dfa
2 changed files with 5 additions and 8 deletions
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8
libraries/AP_Common/Location.cpp
View File

@ -7,8 +7,6 @@
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Terrain/AP_Terrain.h>
AP_Terrain *Location::_terrain = nullptr;
/// constructors
Location::Location()
{
@ -138,7 +136,11 @@ bool Location::get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const
float alt_terr_cm = 0;
if (frame == AltFrame::ABOVE_TERRAIN || desired_frame == AltFrame::ABOVE_TERRAIN) {
#if AP_TERRAIN_AVAILABLE
if (_terrain == nullptr || !_terrain->height_amsl(*this, alt_terr_cm, true)) {
AP_Terrain *terrain = AP::terrain();
if (terrain == nullptr) {
return false;
}
if (!terrain->height_amsl(*this, alt_terr_cm, true)) {
return false;
}
// convert terrain alt to cm

5
libraries/AP_Common/Location.h
View File

@ -2,8 +2,6 @@
#include <AP_Math/AP_Math.h>
class AP_Terrain;
#define LOCATION_ALT_MAX_M 83000 // maximum altitude (in meters) that can be fit into Location structure's alt field
class Location
@ -35,8 +33,6 @@ public:
Location(const Vector3f &ekf_offset_neu, AltFrame frame);
Location(const Vector3d &ekf_offset_neu, AltFrame frame);
static void set_terrain(AP_Terrain* terrain) { _terrain = terrain; }
// set altitude
void set_alt_cm(int32_t alt_cm, AltFrame frame);
@ -134,7 +130,6 @@ public:
static int32_t diff_longitude(int32_t lon1, int32_t lon2);
private:
static AP_Terrain *_terrain;
// scaling factor from 1e-7 degrees to meters at equator
// == 1.0e-7 * DEG_TO_RAD * RADIUS_OF_EARTH