Plane: use AP_FWVersion singleton

ArduPlane/GCS_Mavlink.cpp

@@ -1709,8 +1709,3 @@ bool GCS_MAVLINK_Plane::set_mode(const uint8_t mode)
     }
     return false;
 }
-
-const AP_FWVersion &GCS_MAVLINK_Plane::get_fwver() const
-{
-    return plane.fwver;
-}

ArduPlane/GCS_Mavlink.h

@@ -23,7 +23,6 @@ protected:
     AP_Camera *get_camera() const override;
     AP_AdvancedFailsafe *get_advanced_failsafe() const override;
     AP_Rally *get_rally() const override;
-    const AP_FWVersion &get_fwver() const override;
 
     uint8_t sysid_my_gcs() const override;
 

ArduPlane/Plane.cpp

@@ -24,7 +24,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
   constructor for main Plane class
  */
 Plane::Plane(void)
-    : DataFlash(fwver.fw_string, g.log_bitmask)
+    : DataFlash(g.log_bitmask)
 {
     // C++11 doesn't allow in-class initialisation of bitfields
     auto_state.takeoff_complete = true;

ArduPlane/Plane.h

@@ -158,7 +158,6 @@ public:
     void loop() override;
 
 private:
-    static const AP_FWVersion fwver;
 
     // key aircraft parameters passed to multiple libraries
     AP_Vehicle::FixedWing aparm;

ArduPlane/system.cpp

@@ -24,7 +24,7 @@ void Plane::init_ardupilot()
 
     hal.console->printf("\n\nInit %s"
                         "\n\nFree RAM: %u\n",
-                        fwver.fw_string,
+                        AP::fwversion().fw_string,
                         (unsigned)hal.util->available_memory());
 
 
@@ -116,8 +116,7 @@ void Plane::init_ardupilot()
     // setup frsky
 #if FRSKY_TELEM_ENABLED == ENABLED
     // setup frsky, and pass a number of parameters to the library
-    frsky_telemetry.init(serial_manager, fwver.fw_string,
+    frsky_telemetry.init(serial_manager, MAV_TYPE_FIXED_WING);
-                         MAV_TYPE_FIXED_WING);
 #endif
 #if DEVO_TELEM_ENABLED == ENABLED
     devo_telemetry.init(serial_manager);

ArduPlane/version.cpp

@@ -21,7 +21,7 @@
 
 #include <AP_Common/AP_FWVersion.h>
 
-const AP_FWVersion Plane::fwver{
+const AP_FWVersion AP_FWVersion::fwver{
     .major = FW_MAJOR,
     .minor = FW_MINOR,
     .patch = FW_PATCH,
@@ -33,9 +33,16 @@ const AP_FWVersion Plane::fwver{
     .fw_hash_str = GIT_VERSION,
 #endif
 #ifdef PX4_GIT_VERSION
+    .middleware_name = "PX4",
     .middleware_hash_str = PX4_GIT_VERSION,
 #endif
 #ifdef NUTTX_GIT_VERSION
+    .os_name = "NuttX",
     .os_hash_str = NUTTX_GIT_VERSION,
+#elif defined(CHIBIOS_GIT_VERSION)
+    .middleware_name = nullptr,
+    .middleware_hash_str = nullptr,
+    .os_name = "ChibiOS",
+    .os_hash_str = CHIBIOS_GIT_VERSION,
 #endif
 };