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Plane: use baro singleton

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This commit is contained in:
Peter Barker 2018-03-06 07:37:35 +11:00 committed by Lucas De Marchi
parent d88bd52a53
commit f558bbca2e
5 changed files with 14 additions and 14 deletions
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4
ArduPlane/AP_Arming.h
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@ -8,9 +8,9 @@
class AP_Arming_Plane : public AP_Arming
{
public:
AP_Arming_Plane(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
AP_Arming_Plane(const AP_AHRS &ahrs_ref, Compass &compass,
const AP_BattMonitor &battery)
: AP_Arming(ahrs_ref, baro, compass, battery)
: AP_Arming(ahrs_ref, compass, battery)
{
AP_Param::setup_object_defaults(this, var_info);
}

4
ArduPlane/GCS_Mavlink.cpp
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@ -473,12 +473,12 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
send_scaled_pressure(plane.barometer);
send_scaled_pressure();
break;
case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
send_sensor_offsets(plane.ins, plane.compass, plane.barometer);
send_sensor_offsets(plane.ins, plane.compass);
break;
case MSG_FENCE_STATUS:

2
ArduPlane/Log.cpp
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@ -297,7 +297,7 @@ void Plane::Log_Write_RC(void)
void Plane::Log_Write_Baro(void)
{
if (!ahrs.have_ekf_logging()) {
DataFlash.Log_Write_Baro(barometer);
DataFlash.Log_Write_Baro();
}
}

14
ArduPlane/Plane.h
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@ -122,7 +122,7 @@
class AP_AdvancedFailsafe_Plane : public AP_AdvancedFailsafe
{
public:
AP_AdvancedFailsafe_Plane(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap);
AP_AdvancedFailsafe_Plane(AP_Mission &_mission, const AP_GPS &_gps, const RCMapper &_rcmap);
// called to set all outputs to termination state
void terminate_vehicle(void);
@ -214,11 +214,11 @@ private:
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3};
NavEKF2 EKF2{&ahrs, rangefinder};
NavEKF3 EKF3{&ahrs, rangefinder};
AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3};
#else
AP_AHRS_DCM ahrs{ins, barometer};
AP_AHRS_DCM ahrs{ins};
#endif
AP_TECS TECS_controller{ahrs, aparm, landing, g2.soaring_controller};
@ -632,7 +632,7 @@ private:
AP_Avoidance_Plane avoidance_adsb{ahrs, adsb};
// Outback Challenge Failsafe Support
AP_AdvancedFailsafe_Plane afs {mission, barometer, gps, rcmap};
AP_AdvancedFailsafe_Plane afs {mission, gps, rcmap};
/*
meta data to support counting the number of circles in a loiter
@ -752,7 +752,7 @@ private:
#endif
// Arming/Disarming mangement class
AP_Arming_Plane arming{ahrs, barometer, compass, battery};
AP_Arming_Plane arming{ahrs, compass, battery};
AP_Param param_loader {var_info};

4
ArduPlane/afs_plane.cpp
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@ -5,8 +5,8 @@
#include "Plane.h"
// Constructor
AP_AdvancedFailsafe_Plane::AP_AdvancedFailsafe_Plane(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap) :
AP_AdvancedFailsafe(_mission, _baro, _gps, _rcmap)
AP_AdvancedFailsafe_Plane::AP_AdvancedFailsafe_Plane(AP_Mission &_mission, const AP_GPS &_gps, const RCMapper &_rcmap) :
AP_AdvancedFailsafe(_mission, _gps, _rcmap)
{}