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APM_Control: stop taking reference to dataflash, use singleton

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Peter Barker 2019-01-18 11:57:30 +11:00 committed by Andrew Tridgell
parent ee13110ad0
commit d1f5bcb1ab
4 changed files with 12 additions and 14 deletions
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14
libraries/APM_Control/AP_AutoTune.cpp
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@ -67,13 +67,11 @@ extern const AP_HAL::HAL& hal;
// constructor // constructor
AP_AutoTune::AP_AutoTune(ATGains &_gains, ATType _type, AP_AutoTune::AP_AutoTune(ATGains &_gains, ATType _type,
const AP_Vehicle::FixedWing &parms, const AP_Vehicle::FixedWing &parms) :
DataFlash_Class &_dataflash) :
running(false), running(false),
current(_gains), current(_gains),
type(_type), type(_type),
aparm(parms), aparm(parms),
dataflash(_dataflash),
saturated_surfaces(false) saturated_surfaces(false)
{} {}
@ -268,7 +266,8 @@ void AP_AutoTune::check_save(void)
*/ */
void AP_AutoTune::log_param_change(float v, const char *suffix) void AP_AutoTune::log_param_change(float v, const char *suffix)
{ {
if (!dataflash.logging_started()) { DataFlash_Class *dataflash = DataFlash_Class::instance();
if (!dataflash->logging_started()) {
return; return;
} }
char key[AP_MAX_NAME_SIZE+1]; char key[AP_MAX_NAME_SIZE+1];
@ -280,7 +279,7 @@ void AP_AutoTune::log_param_change(float v, const char *suffix)
strncpy(&key[9], suffix, AP_MAX_NAME_SIZE-9); strncpy(&key[9], suffix, AP_MAX_NAME_SIZE-9);
} }
key[AP_MAX_NAME_SIZE] = 0; key[AP_MAX_NAME_SIZE] = 0;
dataflash.Log_Write_Parameter(key, v); dataflash->Log_Write_Parameter(key, v);
} }
/* /*
@ -328,7 +327,8 @@ void AP_AutoTune::save_gains(const ATGains &v)
void AP_AutoTune::write_log(float servo, float demanded, float achieved) void AP_AutoTune::write_log(float servo, float demanded, float achieved)
{ {
if (!dataflash.logging_started()) { DataFlash_Class *dataflash = DataFlash_Class::instance();
if (!dataflash->logging_started()) {
return; return;
} }
@ -342,5 +342,5 @@ void AP_AutoTune::write_log(float servo, float demanded, float achieved)
achieved : achieved, achieved : achieved,
P : current.P.get() P : current.P.get()
}; };
dataflash.WriteBlock(&pkt, sizeof(pkt)); dataflash->WriteBlock(&pkt, sizeof(pkt));
} }

4
libraries/APM_Control/AP_AutoTune.h
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@ -34,7 +34,7 @@ public:
// constructor // constructor
AP_AutoTune(ATGains &_gains, ATType type, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash); AP_AutoTune(ATGains &_gains, ATType type, const AP_Vehicle::FixedWing &parms);
// called when autotune mode is entered // called when autotune mode is entered
void start(void); void start(void);
@ -59,8 +59,6 @@ private:
const AP_Vehicle::FixedWing &aparm; const AP_Vehicle::FixedWing &aparm;
DataFlash_Class &dataflash;
// did we saturate surfaces? // did we saturate surfaces?
bool saturated_surfaces:1; bool saturated_surfaces:1;

4
libraries/APM_Control/AP_PitchController.h
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@ -9,9 +9,9 @@
class AP_PitchController { class AP_PitchController {
public: public:
AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
: aparm(parms) : aparm(parms)
, autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash) , autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms)
, _ahrs(ahrs) , _ahrs(ahrs)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);

4
libraries/APM_Control/AP_RollController.h
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@ -9,9 +9,9 @@
class AP_RollController { class AP_RollController {
public: public:
AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
: aparm(parms) : aparm(parms)
, autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms, _dataflash) , autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms)
, _ahrs(ahrs) , _ahrs(ahrs)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);