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44 lines
1.3 KiB
44 lines
1.3 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 "Copter.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 Copter class |
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*/ |
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Copter::Copter(void) |
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: DataFlash(fwver.fw_string, g.log_bitmask), |
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flight_modes(&g.flight_mode1), |
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control_mode(STABILIZE), |
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scaleLongDown(1), |
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simple_cos_yaw(1.0f), |
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super_simple_cos_yaw(1.0), |
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land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF), |
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rc_throttle_control_in_filter(1.0f), |
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inertial_nav(ahrs), |
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param_loader(var_info), |
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flightmode(&mode_stabilize) |
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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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} |
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Copter copter;
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