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sensors app: Move a static member to being a class member

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Lorenz Meier
2015-04-26 14:33:57 +02:00
parent 1d283bf3c1
commit f1ff61ec4f
1 changed files with 4 additions and 4 deletions
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src/modules/sensors/sensors.cpp
+4 -4
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@@ -246,6 +246,7 @@ private:
struct differential_pressure_s _diff_pres; struct differential_pressure_s _diff_pres;
struct airspeed_s _airspeed; struct airspeed_s _airspeed;
struct rc_parameter_map_s _rc_parameter_map; 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> _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 */ 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 */ /* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")), _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")),
_param_rc_values{},
_board_rotation{}, _board_rotation{},
_mag_rotation{}, _mag_rotation{},
@@ -1838,8 +1840,6 @@ Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
void void
Sensors::set_params_from_rc() Sensors::set_params_from_rc()
{ {
static float param_rc_values[RC_PARAM_MAP_NCHAN] = {};
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { 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]) { 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) /* 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); 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, /* Check if the value has changed,
* maybe we need to introduce a more aggressive limit here */ * 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) { if (rc_val > _param_rc_values[i] + FLT_EPSILON || rc_val < _param_rc_values[i] - FLT_EPSILON) {
param_rc_values[i] = rc_val; _param_rc_values[i] = rc_val;
float param_val = math::constrain( float param_val = math::constrain(
_rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val, _rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val,
_rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]); _rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]);