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AP_Mount: use AP_AHRS_TYPE instead of AP_AHRS_MOUNT

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Jonathan Challinger 2015-02-24 20:07:44 -08:00 committed by Andrew Tridgell
parent f92c711d14
commit dff899647f
2 changed files with 3 additions and 8 deletions
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2
libraries/AP_Mount/AP_Mount.cpp
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@ -386,7 +386,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
AP_GROUPEND AP_GROUPEND
}; };
AP_Mount::AP_Mount(const AP_AHRS_MOUNT &ahrs, const struct Location &current_loc) : AP_Mount::AP_Mount(const AP_AHRS_TYPE &ahrs, const struct Location &current_loc) :
_ahrs(ahrs), _ahrs(ahrs),
_current_loc(current_loc), _current_loc(current_loc),
_num_instances(0), _num_instances(0),

9
libraries/AP_Mount/AP_Mount.h
View File

@ -44,11 +44,6 @@ class AP_Mount_SToRM32;
This is a workaround to allow the MAVLink backend access to the This is a workaround to allow the MAVLink backend access to the
SmallEKF. It would be nice to find a neater solution to this SmallEKF. It would be nice to find a neater solution to this
*/ */
#if AP_AHRS_NAVEKF_AVAILABLE
#define AP_AHRS_MOUNT AP_AHRS_NavEKF
#else
#define AP_AHRS_MOUNT AP_AHRS
#endif
class AP_Mount class AP_Mount
{ {
@ -71,7 +66,7 @@ public:
}; };
// Constructor // Constructor
AP_Mount(const AP_AHRS_MOUNT &ahrs, const struct Location &current_loc); AP_Mount(const AP_AHRS_TYPE &ahrs, const struct Location &current_loc);
// init - detect and initialise all mounts // init - detect and initialise all mounts
void init(const AP_SerialManager& serial_manager); void init(const AP_SerialManager& serial_manager);
@ -128,7 +123,7 @@ public:
protected: protected:
// private members // private members
const AP_AHRS_MOUNT &_ahrs; const AP_AHRS_TYPE &_ahrs;
const struct Location &_current_loc; // reference to the vehicle's current location const struct Location &_current_loc; // reference to the vehicle's current location
// frontend parameters // frontend parameters