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vtol_att_control: removed unnecessary pointers to derived classes

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- we interface over the base class pointer so we don't need any pointers
to the derived classes of VtolType

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-11-22 10:05:53 +01:00
committed by Julian Oes
parent d77547e7e1
commit f8f12ee265
2 changed files with 3 additions and 9 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+3 -6
View File
@@ -137,16 +137,13 @@ VtolAttitudeControl::VtolAttitudeControl() :
parameters_update(); parameters_update();
if (_params.vtol_type == vtol_type::TAILSITTER) { if (_params.vtol_type == vtol_type::TAILSITTER) {
_tailsitter = new Tailsitter(this); _vtol_type = new Tailsitter(this);
_vtol_type = _tailsitter;
} else if (_params.vtol_type == vtol_type::TILTROTOR) { } else if (_params.vtol_type == vtol_type::TILTROTOR) {
_tiltrotor = new Tiltrotor(this); _vtol_type = new Tiltrotor(this);
_vtol_type = _tiltrotor;
} else if (_params.vtol_type == vtol_type::STANDARD) { } else if (_params.vtol_type == vtol_type::STANDARD) {
_standard = new Standard(this); _vtol_type = new Standard(this);
_vtol_type = _standard;
} else { } else {
_task_should_exit = true; _task_should_exit = true;
src/modules/vtol_att_control/vtol_att_control_main.h
-3
View File
@@ -219,9 +219,6 @@ private:
bool _abort_front_transition; bool _abort_front_transition;
VtolType *_vtol_type = nullptr; // base class for different vtol types VtolType *_vtol_type = nullptr; // base class for different vtol types
Tiltrotor *_tiltrotor = nullptr; // tailsitter vtol type
Tailsitter *_tailsitter = nullptr; // tiltrotor vtol type
Standard *_standard = nullptr; // standard vtol type
//*****************Member functions*********************************************************************** //*****************Member functions***********************************************************************