From e88358ccc6cfefcb5493bf7efb131aa90d3cf753 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 2 Sep 2018 16:54:04 +1000 Subject: [PATCH] AP_OpticalFlow: use AHRS singleton --- libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp | 2 +- libraries/AP_OpticalFlow/OpticalFlow.cpp | 4 +--- libraries/AP_OpticalFlow/OpticalFlow.h | 3 +-- libraries/AP_OpticalFlow/OpticalFlow_backend.h | 3 --- 4 files changed, 3 insertions(+), 9 deletions(-) diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp index 25e707f944..7994291e6f 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp @@ -289,7 +289,7 @@ void AP_OpticalFlow_Pixart::timer(void) uint32_t dt_us = last_burst_us - integral.last_frame_us; float dt = dt_us * 1.0e-6; - const Vector3f &gyro = get_ahrs().get_gyro(); + const Vector3f &gyro = AP::ahrs_navekf().get_gyro(); { WITH_SEMAPHORE(_sem); diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp index 2b97962630..65ed130867 100644 --- a/libraries/AP_OpticalFlow/OpticalFlow.cpp +++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp @@ -69,9 +69,7 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = { }; // default constructor -OpticalFlow::OpticalFlow(AP_AHRS_NavEKF &ahrs) - : _ahrs(ahrs), - _last_update_ms(0) +OpticalFlow::OpticalFlow() { _singleton = this; diff --git a/libraries/AP_OpticalFlow/OpticalFlow.h b/libraries/AP_OpticalFlow/OpticalFlow.h index 6398766235..e679442168 100644 --- a/libraries/AP_OpticalFlow/OpticalFlow.h +++ b/libraries/AP_OpticalFlow/OpticalFlow.h @@ -30,7 +30,7 @@ class OpticalFlow friend class OpticalFlow_backend; public: - OpticalFlow(AP_AHRS_NavEKF& ahrs); + OpticalFlow(); /* Do not allow copies */ OpticalFlow(const OpticalFlow &other) = delete; @@ -87,7 +87,6 @@ private: static OpticalFlow *_singleton; - AP_AHRS_NavEKF &_ahrs; OpticalFlow_backend *backend; struct AP_OpticalFlow_Flags { diff --git a/libraries/AP_OpticalFlow/OpticalFlow_backend.h b/libraries/AP_OpticalFlow/OpticalFlow_backend.h index 8474a1ce4f..ba02180a77 100644 --- a/libraries/AP_OpticalFlow/OpticalFlow_backend.h +++ b/libraries/AP_OpticalFlow/OpticalFlow_backend.h @@ -50,9 +50,6 @@ protected: // apply yaw angle to a vector void _applyYaw(Vector2f &v); - - // get access to AHRS object - AP_AHRS_NavEKF &get_ahrs(void) { return frontend._ahrs; } // get ADDR parameter value uint8_t get_address(void) const { return frontend._address; }