mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Peter Barker
7e95431f4f
Every firmware which compiles airspeed support in also instantiates an AP_Airspeed object, so the singleton is never null. Returning a reference rather than a pointer says so, and lets the nullptr checks at each call site go away.
36 lines
911 B
C++
36 lines
911 B
C++
#include "AP_DAL_Airspeed.h"
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#include "AP_DAL.h"
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#include <AP_Logger/AP_Logger.h>
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AP_DAL_Airspeed::AP_DAL_Airspeed()
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{
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#if AP_AIRSPEED_ENABLED
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for (uint8_t i=0; i<ARRAY_SIZE(_RASI); i++) {
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_RASI[i].instance = i;
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}
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#endif
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}
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void AP_DAL_Airspeed::start_frame()
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{
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#if AP_AIRSPEED_ENABLED
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const auto &airspeed = AP::airspeed();
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const log_RASH old = _RASH;
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_RASH.num_sensors = airspeed.get_num_sensors();
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_RASH.primary = airspeed.get_primary();
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WRITE_REPLAY_BLOCK_IFCHANGED(RASH, _RASH, old);
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for (uint8_t i=0; i<ARRAY_SIZE(_RASI); i++) {
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log_RASI &RASI = _RASI[i];
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log_RASI old_RASI = RASI;
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RASI.last_update_ms = airspeed.last_update_ms(i);
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RASI.healthy = airspeed.healthy(i);
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RASI.use = airspeed.use(i);
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RASI.airspeed = airspeed.get_airspeed(i);
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WRITE_REPLAY_BLOCK_IFCHANGED(RASI, RASI, old_RASI);
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}
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#endif
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}
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