Copter: use AP_FWVersion singleton

ArduCopter/Copter.cpp

@@ -24,7 +24,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
   constructor for main Copter class
  */
 Copter::Copter(void)
-    : DataFlash(fwver.fw_string, g.log_bitmask),
+    : DataFlash(g.log_bitmask),
     flight_modes(&g.flight_mode1),
     control_mode(STABILIZE),
     scaleLongDown(1),

ArduCopter/GCS_Mavlink.cpp

@@ -1700,8 +1700,3 @@ bool GCS_MAVLINK_Copter::set_mode(const uint8_t mode)
 #endif
     return copter.set_mode((control_mode_t)mode, MODE_REASON_GCS_COMMAND);
 }
-
-const AP_FWVersion &GCS_MAVLINK_Copter::get_fwver() const
-{
-    return copter.fwver;
-}

ArduCopter/GCS_Mavlink.h

@@ -23,7 +23,6 @@ protected:
     MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
     AP_AdvancedFailsafe *get_advanced_failsafe() const override;
     AP_VisualOdom *get_visual_odom() const override;
-    const AP_FWVersion &get_fwver() const override;
 
     uint8_t sysid_my_gcs() const override;
 

ArduCopter/system.cpp

@@ -28,7 +28,7 @@ void Copter::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());
 
     //
@@ -99,11 +99,10 @@ void Copter::init_ardupilot()
 
 #if FRSKY_TELEM_ENABLED == ENABLED
     // setup frsky, and pass a number of parameters to the library
-    char firmware_buf[50];
+    frsky_telemetry.init(serial_manager,
-    snprintf(firmware_buf, sizeof(firmware_buf), "%s %s", fwver.fw_string, get_frame_string());
-    frsky_telemetry.init(serial_manager, firmware_buf,
                          get_frame_mav_type(),
                          &ap.value);
+    frsky_telemetry.set_frame_string(get_frame_string());
 #endif
 
 #if DEVO_TELEM_ENABLED == ENABLED

ArduCopter/version.cpp

@@ -21,7 +21,7 @@
 
 #include <AP_Common/AP_FWVersion.h>
 
-const AP_FWVersion Copter::fwver{
+const AP_FWVersion AP_FWVersion::fwver{
     .major = FW_MAJOR,
     .minor = FW_MINOR,
     .patch = FW_PATCH,
@@ -33,9 +33,16 @@ const AP_FWVersion Copter::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
 };