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ArduRover: use static method to construct controllers

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This commit is contained in:
Lucas De Marchi 2017-08-30 12:34:03 -07:00 committed by Francisco Ferreira
parent e10c60e492
commit e98ccb9ae6
2 changed files with 1 additions and 2 deletions
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1
APMrover2/Rover.cpp
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@ -29,7 +29,6 @@ Rover::Rover(void) :
channel_aux(nullptr),
DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)),
modes(&g.mode1),
L1_controller(ahrs, nullptr),
nav_controller(&L1_controller),
control_mode(&mode_initializing),
home(ahrs.get_home()),

2
APMrover2/Rover.h
View File

@ -173,7 +173,7 @@ private:
// Arming/Disarming management class
AP_Arming_Rover arming = AP_Arming_Rover::create(ahrs, barometer, compass, battery);
AP_L1_Control L1_controller;
AP_L1_Control L1_controller = AP_L1_Control::create(ahrs, nullptr);
// selected navigation controller
AP_Navigation *nav_controller;