Copter: use base class AC_AttitudeControl object

ArduPilot · Dec 3, 2023 · b099c30 · b099c30
1 parent a0a113c
commit b099c30
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Showing 4 changed files with 8 additions and 19 deletions.
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -77,12 +77,6 @@
 #include "defines.h"
 #include "config.h"
 
-#if FRAME_CONFIG == HELI_FRAME
-    #define AC_AttitudeControl_t AC_AttitudeControl_Heli
-#else
-    #define AC_AttitudeControl_t AC_AttitudeControl_Multi
-#endif
-
 #if FRAME_CONFIG == HELI_FRAME
  #define MOTOR_CLASS AP_MotorsHeli
 #else
@@ -485,7 +479,8 @@ class Copter : public AP_Vehicle {
 
     // Attitude, Position and Waypoint navigation objects
     // To-Do: move inertial nav up or other navigation variables down here
-    AC_AttitudeControl_t *attitude_control;
+    AC_AttitudeControl *attitude_control;
+    const struct AP_Param::GroupInfo *attitude_control_var_info;
     AC_PosControl *pos_control;
     AC_WPNav *wp_nav;
     AC_Loiter *loiter_nav;

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -498,11 +498,7 @@ const AP_Param::Info Copter::var_info[] = {
 
     // @Group: ATC_
     // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
-#if FRAME_CONFIG == HELI_FRAME
-    GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Heli),
-#else
-    GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Multi),
-#endif
+    GOBJECTVARPTR(attitude_control, "ATC_", &copter.attitude_control_var_info),
 
     // @Group: PSC
     // @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -241,7 +241,7 @@ class Mode {
     AC_PosControl *&pos_control;
     AP_InertialNav &inertial_nav;
     AP_AHRS &ahrs;
-    AC_AttitudeControl_t *&attitude_control;
+    AC_AttitudeControl *&attitude_control;
     MOTOR_CLASS *&motors;
     RC_Channel *&channel_roll;
     RC_Channel *&channel_pitch;

diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
@@ -444,26 +444,24 @@ void Copter::allocate_motors(void)
         AP_BoardConfig::allocation_error("AP_AHRS_View");
     }
 
-    const struct AP_Param::GroupInfo *ac_var_info;
-
 #if FRAME_CONFIG != HELI_FRAME
     if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) {
 #if AP_SCRIPTING_ENABLED
         attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors);
-        ac_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
+        attitude_control_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
 #endif // AP_SCRIPTING_ENABLED
     } else {
         attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors);
-        ac_var_info = AC_AttitudeControl_Multi::var_info;
+        attitude_control_var_info = AC_AttitudeControl_Multi::var_info;
     }
 #else
     attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors);
-    ac_var_info = AC_AttitudeControl_Heli::var_info;
+    attitude_control_var_info = AC_AttitudeControl_Heli::var_info;
 #endif
     if (attitude_control == nullptr) {
         AP_BoardConfig::allocation_error("AttitudeControl");
     }
-    AP_Param::load_object_from_eeprom(attitude_control, ac_var_info);
+    AP_Param::load_object_from_eeprom(attitude_control, attitude_control_var_info);
 
     pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
     if (pos_control == nullptr) {