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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-25 08:03:12 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-26 14:33:57 +0200 |
| commit | f1ff61ec4fdfd98a570aa4842f41aba30183bb7a (patch) | |
| tree | 672f81638fbdbe1b6cf4de4f27fe1319bbd07dc7 | |
| parent | 1d283bf3c15b79ad2aa23ed3e2de7ff80f0261fe (diff) | |
| download | px4-firmware-f1ff61ec4fdfd98a570aa4842f41aba30183bb7a.tar.gz px4-firmware-f1ff61ec4fdfd98a570aa4842f41aba30183bb7a.tar.bz2 px4-firmware-f1ff61ec4fdfd98a570aa4842f41aba30183bb7a.zip | |
sensors app: Move a static member to being a class member
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 7b79d47a8..07c3f2ab7 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -246,6 +246,7 @@ private: struct differential_pressure_s _diff_pres; struct airspeed_s _airspeed; struct rc_parameter_map_s _rc_parameter_map; + float _param_rc_values[RC_PARAM_MAP_NCHAN]; /**< parameter values for RC control */ math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ math::Matrix<3, 3> _mag_rotation[3]; /**< rotation matrix for the orientation that the external mag0 is mounted */ @@ -523,6 +524,7 @@ Sensors::Sensors() : /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")), + _param_rc_values{}, _board_rotation{}, _mag_rotation{}, @@ -1838,8 +1840,6 @@ Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv) void Sensors::set_params_from_rc() { - static float param_rc_values[RC_PARAM_MAP_NCHAN] = {}; - for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) { /* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0) @@ -1851,8 +1851,8 @@ Sensors::set_params_from_rc() float rc_val = get_rc_value((rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0); /* Check if the value has changed, * maybe we need to introduce a more aggressive limit here */ - if (rc_val > param_rc_values[i] + FLT_EPSILON || rc_val < param_rc_values[i] - FLT_EPSILON) { - param_rc_values[i] = rc_val; + if (rc_val > _param_rc_values[i] + FLT_EPSILON || rc_val < _param_rc_values[i] - FLT_EPSILON) { + _param_rc_values[i] = rc_val; float param_val = math::constrain( _rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val, _rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]); |