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53 lines
1.7 KiB
53 lines
1.7 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include "Sub.h" |
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#define FORCE_VERSION_H_INCLUDE |
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#include "version.h" |
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#undef FORCE_VERSION_H_INCLUDE |
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const AP_HAL::HAL& hal = AP_HAL::get_HAL(); |
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/* |
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constructor for main Sub class |
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*/ |
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Sub::Sub() |
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: logger(g.log_bitmask), |
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control_mode(MANUAL), |
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motors(MAIN_LOOP_RATE), |
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scaleLongDown(1), |
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auto_mode(Auto_WP), |
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guided_mode(Guided_WP), |
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auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP), |
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inertial_nav(ahrs), |
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ahrs_view(ahrs, ROTATION_NONE), |
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attitude_control(ahrs_view, aparm, motors, MAIN_LOOP_SECONDS), |
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pos_control(ahrs_view, inertial_nav, motors, attitude_control), |
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wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control), |
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loiter_nav(inertial_nav, ahrs_view, pos_control, attitude_control), |
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circle_nav(inertial_nav, ahrs_view, pos_control), |
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param_loader(var_info) |
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{ |
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// init sensor error logging flags |
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sensor_health.baro = true; |
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sensor_health.compass = true; |
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#if CONFIG_HAL_BOARD != HAL_BOARD_SITL |
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failsafe.pilot_input = true; |
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#endif |
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} |
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Sub sub; |
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AP_Vehicle& vehicle = sub;
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