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99 lines
3.3 KiB
99 lines
3.3 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 "Sub.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 Sub class |
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*/ |
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Sub::Sub(void) : |
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DataFlash {fwver.fw_string, g.log_bitmask}, |
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mission(ahrs, |
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FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &), |
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FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &), |
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FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)), |
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control_mode(MANUAL), |
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motors(MAIN_LOOP_RATE), |
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scaleLongDown(1), |
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auto_mode(Auto_WP), |
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guided_mode(Guided_WP), |
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circle_pilot_yaw_override(false), |
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initial_armed_bearing(0), |
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desired_climb_rate(0), |
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loiter_time_max(0), |
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loiter_time(0), |
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climb_rate(0), |
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target_rangefinder_alt(0.0f), |
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auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP), |
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yaw_look_at_WP_bearing(0.0f), |
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yaw_look_at_heading(0), |
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yaw_look_at_heading_slew(0), |
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yaw_look_ahead_bearing(0.0f), |
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condition_value(0), |
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condition_start(0), |
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G_Dt(MAIN_LOOP_SECONDS), |
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inertial_nav(ahrs), |
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ahrs_view(ahrs, ROTATION_NONE), |
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attitude_control(ahrs_view, aparm, motors, MAIN_LOOP_SECONDS), |
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pos_control(ahrs_view, inertial_nav, motors, attitude_control, |
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g.p_alt_hold, g.p_vel_z, g.pid_accel_z, |
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g.p_pos_xy, g.pi_vel_xy), |
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#if AVOIDANCE_ENABLED == ENABLED |
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avoid(ahrs, inertial_nav, fence, g2.proximity), |
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#endif |
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wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control), |
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circle_nav(inertial_nav, ahrs_view, pos_control), |
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pmTest1(0), |
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fast_loopTimer(0), |
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mainLoop_count(0), |
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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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#if AC_FENCE == ENABLED |
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fence(ahrs, inertial_nav), |
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#endif |
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#if AC_RALLY == ENABLED |
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rally(ahrs), |
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#endif |
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN |
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terrain(ahrs, mission, rally), |
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#endif |
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in_mavlink_delay(false), |
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param_loader(var_info), |
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last_pilot_yaw_input_ms(0) |
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{ |
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memset(¤t_loc, 0, sizeof(current_loc)); |
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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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failsafe.last_heartbeat_ms = 0; |
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#if CONFIG_HAL_BOARD != HAL_BOARD_SITL |
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failsafe.pilot_input = true; |
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#endif |
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} |
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Sub sub;
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