From d82ad94b7e4301474e014f27cbe44f373676189b Mon Sep 17 00:00:00 2001 From: divyateja04 Date: Sun, 24 Oct 2021 16:45:49 +0530 Subject: [PATCH] AP_WheelEncoder: remove empty constructors --- libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp | 6 ------ libraries/AP_WheelEncoder/WheelEncoder_Quadrature.h | 2 +- .../AP_WheelEncoder/WheelEncoder_SITL_Quadrature.cpp | 8 ++------ libraries/AP_WheelEncoder/WheelEncoder_SITL_Quadrature.h | 4 +--- 4 files changed, 4 insertions(+), 16 deletions(-) diff --git a/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp b/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp index 45928caa4d..09c248342e 100644 --- a/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp +++ b/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp @@ -21,12 +21,6 @@ extern const AP_HAL::HAL& hal; -// constructor -AP_WheelEncoder_Quadrature::AP_WheelEncoder_Quadrature(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state) : - AP_WheelEncoder_Backend(frontend, instance, state) -{ -} - // check if pin has changed and initialise gpio event callback void AP_WheelEncoder_Quadrature::update_pin(uint8_t &pin, uint8_t new_pin, diff --git a/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.h b/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.h index ce618da8b0..9693ba9a12 100644 --- a/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.h +++ b/libraries/AP_WheelEncoder/WheelEncoder_Quadrature.h @@ -23,7 +23,7 @@ class AP_WheelEncoder_Quadrature : public AP_WheelEncoder_Backend { public: // constructor - AP_WheelEncoder_Quadrature(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state); + using AP_WheelEncoder_Backend::AP_WheelEncoder_Backend; // update state void update(void) override; diff --git a/libraries/AP_WheelEncoder/WheelEncoder_SITL_Quadrature.cpp b/libraries/AP_WheelEncoder/WheelEncoder_SITL_Quadrature.cpp index cd1ea42e95..330ede6561 100644 --- a/libraries/AP_WheelEncoder/WheelEncoder_SITL_Quadrature.cpp +++ b/libraries/AP_WheelEncoder/WheelEncoder_SITL_Quadrature.cpp @@ -22,14 +22,10 @@ extern const AP_HAL::HAL& hal; -AP_WheelEncoder_SITL_Qaudrature::AP_WheelEncoder_SITL_Qaudrature(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state) : - AP_WheelEncoder_Backend(frontend, instance, state), - _sitl(AP::sitl()) -{ -} - void AP_WheelEncoder_SITL_Qaudrature::update(void) { + const auto *_sitl = AP::sitl(); + // earth frame velocity of vehicle in vector form const Vector2f ef_velocity(_sitl->state.speedN, _sitl->state.speedE); // store current heading diff --git a/libraries/AP_WheelEncoder/WheelEncoder_SITL_Quadrature.h b/libraries/AP_WheelEncoder/WheelEncoder_SITL_Quadrature.h index 8277624441..90f2cef55e 100644 --- a/libraries/AP_WheelEncoder/WheelEncoder_SITL_Quadrature.h +++ b/libraries/AP_WheelEncoder/WheelEncoder_SITL_Quadrature.h @@ -24,14 +24,12 @@ class AP_WheelEncoder_SITL_Qaudrature : public AP_WheelEncoder_Backend { public: // constructor - AP_WheelEncoder_SITL_Qaudrature(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state); + using AP_WheelEncoder_Backend::AP_WheelEncoder_Backend; // update state void update(void) override; private: - SITL::SIM *_sitl; // pointer to SITL singleton - int32_t _distance_count; // distance count as number of encoder ticks uint32_t _total_count; // total number of encoder ticks };