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GCS_MAVLink: use baro singleton

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Peter Barker 2018-03-06 07:36:45 +11:00 committed by Lucas De Marchi
parent 735f671726
commit e9ecc11b00
2 changed files with 7 additions and 4 deletions
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4
libraries/GCS_MAVLink/GCS.h
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@ -164,8 +164,8 @@ public:
void send_system_time();
void send_radio_in(uint8_t receiver_rssi);
void send_raw_imu(const AP_InertialSensor &ins, const Compass &compass);
void send_scaled_pressure(AP_Baro &barometer);
void send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer);
void send_scaled_pressure();
void send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass);
void send_ahrs();
void send_battery2(const AP_BattMonitor &battery);
#if AP_AHRS_NAVEKF_AVAILABLE

7
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1064,9 +1064,10 @@ void GCS_MAVLINK::send_raw_imu(const AP_InertialSensor &ins, const Compass &comp
mag.z);
}
void GCS_MAVLINK::send_scaled_pressure(AP_Baro &barometer)
void GCS_MAVLINK::send_scaled_pressure()
{
uint32_t now = AP_HAL::millis();
const AP_Baro &barometer = AP::baro();
float pressure = barometer.get_pressure(0);
mavlink_msg_scaled_pressure_send(
chan,
@ -1098,7 +1099,7 @@ void GCS_MAVLINK::send_scaled_pressure(AP_Baro &barometer)
}
}
void GCS_MAVLINK::send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer)
void GCS_MAVLINK::send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass)
{
// run this message at a much lower rate - otherwise it
// pointlessly wastes quite a lot of bandwidth
@ -1112,6 +1113,8 @@ void GCS_MAVLINK::send_sensor_offsets(const AP_InertialSensor &ins, const Compas
const Vector3f &accel_offsets = ins.get_accel_offsets(0);
const Vector3f &gyro_offsets = ins.get_gyro_offsets(0);
const AP_Baro &barometer = AP::baro();
mavlink_msg_sensor_offsets_send(chan,
mag_offsets.x,
mag_offsets.y,