Sub: use AP_FWVersion singleton

ArduSub/GCS_Mavlink.cpp

@@ -1369,11 +1369,6 @@ bool GCS_MAVLINK_Sub::set_mode(uint8_t mode)
     return sub.set_mode((control_mode_t)mode, MODE_REASON_GCS_COMMAND);
 }
 
-const AP_FWVersion &GCS_MAVLINK_Sub::get_fwver() const
-{
-    return sub.fwver;
-}
-
 int32_t GCS_MAVLINK_Sub::global_position_int_alt() const {
     if (!sub.ap.depth_sensor_present) {
         return 0;

ArduSub/GCS_Mavlink.h

@@ -16,7 +16,6 @@ protected:
     AP_Mission *get_mission() override;
     AP_Rally *get_rally() const override;
     AP_Camera *get_camera() const override;
-    const AP_FWVersion &get_fwver() const override;
 
     MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
 

ArduSub/Sub.cpp

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

ArduSub/system.cpp

@@ -24,7 +24,7 @@ void Sub::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());
 
     // load parameters from EEPROM

ArduSub/version.cpp

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