ardupilot/APMrover2/Rover.cpp

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/
/* 
   main Rover class, containing all vehicle specific state
*/

#include "Rover.h"

Rover::Rover(void) :
    param_loader(var_info),
    ins_sample_rate(AP_InertialSensor::RATE_50HZ),
    channel_steer(NULL),
    channel_throttle(NULL),
    channel_learn(NULL),
#if defined(HAL_BOARD_LOG_DIRECTORY)
    DataFlash(HAL_BOARD_LOG_DIRECTORY),
#endif
    in_log_download(false),
    modes(&g.mode1),
#if AP_AHRS_NAVEKF_AVAILABLE
    ahrs(ins, barometer, gps, sonar),
#else
    ahrs(ins, barometer, gps),
#endif
    L1_controller(ahrs),
    nav_controller(&L1_controller),
    steerController(ahrs),
    mission(ahrs, 
            AP_HAL_MEMBERPROC(&Rover::start_command), 
            AP_HAL_MEMBERPROC(&Rover::verify_command), 
            AP_HAL_MEMBERPROC(&Rover::exit_mission)),
    num_gcs(MAVLINK_COMM_NUM_BUFFERS),
    ServoRelayEvents(relay),
#if CAMERA == ENABLED
    camera(&relay),
#endif
#if MOUNT == ENABLED
    camera_mount(ahrs, current_loc),
#endif
    control_mode(INITIALISING),
    ground_start_count(20),
    throttle(500),
#if FRSKY_TELEM_ENABLED == ENABLED
    frsky_telemetry(ahrs, battery),
#endif
    home(ahrs.get_home()),
    G_Dt(0.02)
{
}