You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
93 lines
2.9 KiB
93 lines
2.9 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
#include "Plane.h" |
|
|
|
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
/* |
|
constructor for main Plane class |
|
*/ |
|
|
|
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
|
|
|
Plane::Plane(void) : |
|
ins_sample_rate(AP_InertialSensor::RATE_50HZ), |
|
#if defined(HAL_BOARD_LOG_DIRECTORY) |
|
DataFlash(HAL_BOARD_LOG_DIRECTORY), |
|
#endif |
|
flight_modes(&g.flight_mode1), |
|
#if AP_AHRS_NAVEKF_AVAILABLE |
|
ahrs(ins, barometer, gps, rangefinder), |
|
#else |
|
ahrs(ins, barometer, gps), |
|
#endif |
|
L1_controller(ahrs), |
|
TECS_controller(ahrs, aparm), |
|
rollController(ahrs, aparm, DataFlash), |
|
pitchController(ahrs, aparm, DataFlash), |
|
yawController(ahrs, aparm), |
|
steerController(ahrs), |
|
num_gcs(MAVLINK_COMM_NUM_BUFFERS), |
|
nav_controller(&L1_controller), |
|
SpdHgt_Controller(&TECS_controller), |
|
ServoRelayEvents(relay), |
|
#if CAMERA == ENABLED |
|
camera(&relay), |
|
#endif |
|
rally(ahrs), |
|
control_mode(INITIALISING), |
|
previous_mode(INITIALISING), |
|
oldSwitchPosition(254), |
|
ground_start_count(5), |
|
#if FRSKY_TELEM_ENABLED == ENABLED |
|
frsky_telemetry(ahrs, battery), |
|
#endif |
|
airspeed(aparm), |
|
flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL), |
|
aerodynamic_load_factor(1.0f), |
|
mission(ahrs, |
|
FUNCTOR_BIND_MEMBER(&Plane::start_command_callback, bool, const AP_Mission::Mission_Command &), |
|
FUNCTOR_BIND_MEMBER(&Plane::verify_command_callback, bool, const AP_Mission::Mission_Command &), |
|
FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)), |
|
#if AP_TERRAIN_AVAILABLE |
|
terrain(ahrs, mission, rally), |
|
#endif |
|
#if OBC_FAILSAFE == ENABLED |
|
obc(mission, barometer, gps, rcmap), |
|
#endif |
|
home(ahrs.get_home()), |
|
G_Dt(0.02f), |
|
#if MOUNT == ENABLED |
|
camera_mount(ahrs, current_loc), |
|
#endif |
|
arming(ahrs, barometer, compass, home_is_set, FUNCTOR_BIND_MEMBER(&Plane::gcs_send_text_P, void, gcs_severity, const prog_char_t *)), |
|
param_loader(var_info) |
|
{ |
|
elevon.trim1 = 1500; |
|
elevon.trim2 = 1500; |
|
elevon.ch1_temp = 1500; |
|
elevon.ch2_temp = 1500; |
|
|
|
steer_state.hold_course_cd = -1; |
|
steer_state.locked_course = false; |
|
steer_state.locked_course_err = 0; |
|
|
|
auto_state.takeoff_complete = true; |
|
auto_state.next_wp_no_crosstrack = true; |
|
auto_state.no_crosstrack = true; |
|
auto_state.next_turn_angle = 90.0f; |
|
} |
|
|
|
Plane plane;
|
|
|