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49 lines
1.6 KiB
49 lines
1.6 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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/* |
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main Rover class, containing all vehicle specific state |
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*/ |
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#include "Rover.h" |
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#include "version.h" |
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Rover::Rover(void) : |
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param_loader(var_info), |
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channel_steer(nullptr), |
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channel_throttle(nullptr), |
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channel_learn(nullptr), |
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DataFlash{FIRMWARE_STRING, g.log_bitmask}, |
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modes(&g.mode1), |
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L1_controller(ahrs, nullptr), |
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nav_controller(&L1_controller), |
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mission(ahrs, |
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FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&), |
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FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&), |
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FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)), |
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ServoRelayEvents(relay), |
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#if CAMERA == ENABLED |
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camera(&relay, MASK_LOG_CAMERA, current_loc, gps, ahrs), |
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#endif |
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#if MOUNT == ENABLED |
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camera_mount(ahrs, current_loc), |
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#endif |
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control_mode(&mode_initializing), |
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#if FRSKY_TELEM_ENABLED == ENABLED |
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frsky_telemetry(ahrs, battery, rangefinder), |
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#endif |
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home(ahrs.get_home()), |
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G_Dt(0.02f) |
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{ |
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}
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