aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_HAL_SITL: Use SITL, baro, INS and compass singletons

Browse Source 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2018-06-15 17:03:18 -03:00 committed by Francisco Ferreira
parent a4d8ed4b75
commit cd5c59773b
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -73,10 +73,10 @@ void SITL_State::_sitl_setup(const char *home_str)
fprintf(stdout, "Starting SITL input\n");
// find the barometer object if it exists
_sitl = (SITL::SITL *)AP_Param::find_object("SIM_");
_barometer = (AP_Baro *)AP_Param::find_object("GND_");
_ins = (AP_InertialSensor *)AP_Param::find_object("INS_");
_compass = (Compass *)AP_Param::find_object("COMPASS_");
_sitl = AP::sitl();
_barometer = AP_Baro::get_instance();
_ins = AP_InertialSensor::get_instance();
_compass = Compass::get_singleton();
#if AP_TERRAIN_AVAILABLE
_terrain = reinterpret_cast<AP_Terrain *>(AP_Param::find_object("TERRAIN_"));
#endif