Copter: add constant structure holding firmware version

ArduCopter/Copter.cpp

@@ -21,7 +21,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
   constructor for main Copter class
  */
 Copter::Copter(void) :
-    DataFlash{FIRMWARE_STRING, g.log_bitmask},
+    DataFlash{fwver.fw_string, g.log_bitmask},
     flight_modes(&g.flight_mode1),
     mission(ahrs, 
             FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),

ArduCopter/Copter.h

@@ -127,6 +127,7 @@
 // Local modules
 #include "Parameters.h"
 #include "avoidance_adsb.h"
+#include "version.h"
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
@@ -163,6 +164,19 @@ public:
     };
 
 private:
+
+    const AP_FWVersion fwver {
+        major: FW_MAJOR,
+        minor: FW_MINOR,
+        patch: FW_PATCH,
+        fw_type: FW_TYPE,
+#ifndef GIT_VERSION
+        fw_string: THISFIRMWARE
+#else
+        fw_string: THISFIRMWARE " (" GIT_VERSION ")"
+#endif
+    };
+
     // key aircraft parameters passed to multiple libraries
     AP_Vehicle::MultiCopter aparm;
 

ArduCopter/GCS_Mavlink.cpp

@@ -724,7 +724,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         }
 
         // mark the firmware version in the tlog
-        send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
+        send_text(MAV_SEVERITY_INFO, fwver.fw_string);
 
 #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
         send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
@@ -1160,7 +1160,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         case MAV_CMD_DO_SEND_BANNER: {
             result = MAV_RESULT_ACCEPTED;
 
-            send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
+            send_text(MAV_SEVERITY_INFO, fwver.fw_string);
 
             #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
             send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);

ArduCopter/system.cpp

@@ -36,8 +36,9 @@ void Copter::init_ardupilot()
     // init vehicle capabilties
     init_capabilities();
 
-    hal.console->printf("\n\nInit " FIRMWARE_STRING
+    hal.console->printf("\n\nInit %s"
                         "\n\nFree RAM: %u\n",
+                        fwver.fw_string,
                         (unsigned)hal.util->available_memory());
 
     //
@@ -100,7 +101,7 @@ void Copter::init_ardupilot()
 #if FRSKY_TELEM_ENABLED == ENABLED
     // setup frsky, and pass a number of parameters to the library
     char firmware_buf[50];
-    snprintf(firmware_buf, sizeof(firmware_buf), FIRMWARE_STRING " %s", get_frame_string());
+    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(),
                          &g.fs_batt_voltage, &g.fs_batt_mah, &ap.value);

ArduCopter/version.h

@@ -1,12 +1,13 @@
 #pragma once
 
-#include "ap_version.h"
+#include "AP_Common/AP_FWVersion.h"
 
 #define THISFIRMWARE "APM:Copter V3.6-dev"
+
+// the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 3,6,0,FIRMWARE_VERSION_TYPE_DEV
 
-#ifndef GIT_VERSION
-#define FIRMWARE_STRING THISFIRMWARE
-#else
-#define FIRMWARE_STRING THISFIRMWARE " (" GIT_VERSION ")"
-#endif
+#define FW_MAJOR 3
+#define FW_MINOR 6
+#define FW_PATCH 0
+#define FW_TYPE FIRMWARE_VERSION_TYPE_DEV