Rover: use AP_FWVersion singleton

APMrover2/GCS_Mavlink.cpp

@@ -1310,8 +1310,3 @@ bool GCS_MAVLINK_Rover::set_mode(const uint8_t mode)
     }
     return rover.set_mode(*new_mode, MODE_REASON_GCS_COMMAND);
 }
-
-const AP_FWVersion &GCS_MAVLINK_Rover::get_fwver() const
-{
-    return rover.fwver;
-}

APMrover2/GCS_Mavlink.h

@@ -20,7 +20,6 @@ protected:
     AP_Camera *get_camera() const 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;
 

APMrover2/Rover.cpp

@@ -28,7 +28,7 @@ Rover::Rover(void) :
     channel_throttle(nullptr),
     channel_aux(nullptr),
     channel_lateral(nullptr),
-    DataFlash{fwver.fw_string, g.log_bitmask},
+    DataFlash{g.log_bitmask},
     modes(&g.mode1),
     nav_controller(&L1_controller),
     control_mode(&mode_initializing),

APMrover2/Rover.h

@@ -126,7 +126,6 @@ public:
     void loop(void) override;
 
 private:
-    static const AP_FWVersion fwver;
 
     // must be the first AP_Param variable declared to ensure its
     // constructor runs before the constructors of the other AP_Param

APMrover2/system.cpp

@@ -24,7 +24,7 @@ void Rover::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());
 
     //
@@ -80,7 +80,7 @@ void Rover::init_ardupilot()
 
     // setup frsky telemetry
 #if FRSKY_TELEM_ENABLED == ENABLED
-    frsky_telemetry.init(serial_manager, fwver.fw_string, (is_boat() ? MAV_TYPE_SURFACE_BOAT : MAV_TYPE_GROUND_ROVER));
+    frsky_telemetry.init(serial_manager, (is_boat() ? MAV_TYPE_SURFACE_BOAT : MAV_TYPE_GROUND_ROVER));
 #endif
 #if DEVO_TELEM_ENABLED == ENABLED
     devo_telemetry.init(serial_manager);

APMrover2/version.cpp

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