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AC_WPNav: use singleton for getting AC_Avoid instance

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Peter Barker 2019-06-06 10:09:40 +10:00 committed by Peter Barker
parent 6047ef105e
commit f2163fbc24
3 changed files with 1 additions and 8 deletions
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1
libraries/AC_WPNav/AC_Loiter.cpp
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@ -305,6 +305,7 @@ void AC_Loiter::calc_desired_velocity(float nav_dt)
// Limit the velocity to prevent fence violations
// TODO: We need to also limit the _desired_accel
AC_Avoid *_avoid = AP::ac_avoid();
if (_avoid != nullptr) {
_avoid->adjust_velocity(_pos_control.get_pos_xy_p().kP(), _accel_cmss, desired_vel, nav_dt);
}

4
libraries/AC_WPNav/AC_Loiter.h
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@ -16,9 +16,6 @@ public:
/// Constructor
AC_Loiter(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosControl& pos_control, const AC_AttitudeControl& attitude_control);
/// provide pointer to avoidance library
void set_avoidance(AC_Avoid* avoid_ptr) { _avoid = avoid_ptr; }
/// init_target to a position in cm from ekf origin
void init_target(const Vector3f& position);
@ -73,7 +70,6 @@ protected:
const AP_AHRS_View& _ahrs;
AC_PosControl& _pos_control;
const AC_AttitudeControl& _attitude_control;
AC_Avoid *_avoid = nullptr;
// parameters
AP_Float _angle_max; // maximum pilot commanded angle in degrees. Set to zero for 2/3 Angle Max

4
libraries/AC_WPNav/AC_WPNav.h
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@ -51,9 +51,6 @@ public:
/// provide pointer to terrain database
void set_terrain(AP_Terrain* terrain_ptr) { _terrain = terrain_ptr; }
/// provide pointer to avoidance library
void set_avoidance(AC_Avoid* avoid_ptr) { _avoid = avoid_ptr; }
/// provide rangefinder altitude
void set_rangefinder_alt(bool use, bool healthy, float alt_cm) { _rangefinder_available = use; _rangefinder_healthy = healthy; _rangefinder_alt_cm = alt_cm; }
@ -285,7 +282,6 @@ protected:
AC_PosControl& _pos_control;
const AC_AttitudeControl& _attitude_control;
AP_Terrain *_terrain;
AC_Avoid *_avoid;
// parameters
AP_Float _wp_speed_cms; // default maximum horizontal speed in cm/s during missions