diff --git a/ArduPlane/Plane.cpp b/ArduPlane/Plane.cpp index 2a14657424..16da4bc3ae 100644 --- a/ArduPlane/Plane.cpp +++ b/ArduPlane/Plane.cpp @@ -22,72 +22,12 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; -Plane::Plane(void) : - ins_sample_rate(AP_InertialSensor::RATE_50HZ), -#if defined(HAL_BOARD_LOG_DIRECTORY) - DataFlash(HAL_BOARD_LOG_DIRECTORY), -#endif - flight_modes(&g.flight_mode1), -#if AP_AHRS_NAVEKF_AVAILABLE - ahrs(ins, barometer, gps, rangefinder), -#else - ahrs(ins, barometer, gps), -#endif - L1_controller(ahrs), - TECS_controller(ahrs, aparm), - rollController(ahrs, aparm, DataFlash), - pitchController(ahrs, aparm, DataFlash), - yawController(ahrs, aparm), - steerController(ahrs), - num_gcs(MAVLINK_COMM_NUM_BUFFERS), - nav_controller(&L1_controller), - SpdHgt_Controller(&TECS_controller), - ServoRelayEvents(relay), -#if CAMERA == ENABLED - camera(&relay), -#endif - rally(ahrs), - control_mode(INITIALISING), - previous_mode(INITIALISING), - oldSwitchPosition(254), - ground_start_count(5), -#if FRSKY_TELEM_ENABLED == ENABLED - frsky_telemetry(ahrs, battery), -#endif - airspeed(aparm), - flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL), - aerodynamic_load_factor(1.0f), - mission(ahrs, - FUNCTOR_BIND_MEMBER(&Plane::start_command_callback, bool, const AP_Mission::Mission_Command &), - FUNCTOR_BIND_MEMBER(&Plane::verify_command_callback, bool, const AP_Mission::Mission_Command &), - FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)), -#if AP_TERRAIN_AVAILABLE - terrain(ahrs, mission, rally), -#endif -#if OBC_FAILSAFE == ENABLED - obc(mission, barometer, gps, rcmap), -#endif - home(ahrs.get_home()), - G_Dt(0.02f), -#if MOUNT == ENABLED - camera_mount(ahrs, current_loc), -#endif - arming(ahrs, barometer, compass, home_is_set, FUNCTOR_BIND_MEMBER(&Plane::gcs_send_text_P, void, gcs_severity, const prog_char_t *)), - param_loader(var_info) +Plane::Plane(void) { - elevon.trim1 = 1500; - elevon.trim2 = 1500; - elevon.ch1_temp = 1500; - elevon.ch2_temp = 1500; - - steer_state.hold_course_cd = -1; - steer_state.locked_course = false; - steer_state.locked_course_err = 0; - + // C++11 doesn't allow in-class initialisation of bitfields auto_state.takeoff_complete = true; auto_state.next_wp_no_crosstrack = true; auto_state.no_crosstrack = true; - auto_state.next_turn_angle = 90.0f; } Plane plane; diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h index 77b4eb0d50..cfd06e2d40 100644 --- a/ArduPlane/Plane.h +++ b/ArduPlane/Plane.h @@ -119,7 +119,7 @@ private: AP_HAL::BetterStream* cliSerial; // the rate we run the main loop - const AP_InertialSensor::Sample_rate ins_sample_rate; + const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ; // Global parameters are all contained within the 'g' class. Parameters g; @@ -148,7 +148,7 @@ private: #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 DataFlash_APM2 DataFlash; #elif defined(HAL_BOARD_LOG_DIRECTORY) - DataFlash_File DataFlash; + DataFlash_File DataFlash {HAL_BOARD_LOG_DIRECTORY}; #else // no dataflash driver DataFlash_Empty DataFlash; @@ -165,7 +165,7 @@ private: AP_GPS gps; // flight modes convenience array - AP_Int8 *flight_modes; + AP_Int8 *flight_modes = &g.flight_mode1; AP_Baro barometer; Compass compass; @@ -174,19 +174,19 @@ private: // Inertial Navigation EKF #if AP_AHRS_NAVEKF_AVAILABLE - AP_AHRS_NavEKF ahrs; + AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder}; #else - AP_AHRS_DCM ahrs; + AP_AHRS_DCM ahrs {ins, barometer, gps}; #endif - AP_L1_Control L1_controller; - AP_TECS TECS_controller; + AP_L1_Control L1_controller {ahrs}; + AP_TECS TECS_controller {ahrs, aparm}; // Attitude to servo controllers - AP_RollController rollController; - AP_PitchController pitchController; - AP_YawController yawController; - AP_SteerController steerController; + AP_RollController rollController {ahrs, aparm, DataFlash}; + AP_PitchController pitchController {ahrs, aparm, DataFlash}; + AP_YawController yawController {ahrs, aparm}; + AP_SteerController steerController {ahrs}; #if CONFIG_HAL_BOARD == HAL_BOARD_SITL SITL sitl; @@ -216,14 +216,14 @@ private: // GCS selection AP_SerialManager serial_manager; - const uint8_t num_gcs; + const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS; GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS]; // selected navigation controller - AP_Navigation *nav_controller; + AP_Navigation *nav_controller = &L1_controller; // selected navigation controller - AP_SpdHgtControl *SpdHgt_Controller; + AP_SpdHgtControl *SpdHgt_Controller = &TECS_controller; // Analog Inputs // a pin for reading the receiver RSSI voltage. @@ -245,30 +245,30 @@ private: AP_Relay relay; // handle servo and relay events - AP_ServoRelayEvents ServoRelayEvents; + AP_ServoRelayEvents ServoRelayEvents {relay}; // Camera #if CAMERA == ENABLED - AP_Camera camera; + AP_Camera camera {&relay}; #endif // Optical flow sensor OpticalFlow optflow; // Rally Ponints - AP_Rally rally; + AP_Rally rally {ahrs}; // remember if USB is connected, so we can adjust baud rate bool usb_connected; // This is the state of the flight control system // There are multiple states defined such as MANUAL, FBW-A, AUTO - enum FlightMode control_mode; - enum FlightMode previous_mode; + enum FlightMode control_mode = INITIALISING; + enum FlightMode previous_mode = INITIALISING; // Used to maintain the state of the previous control switch position // This is set to 254 when we need to re-read the switch - uint8_t oldSwitchPosition; + uint8_t oldSwitchPosition = 254; // This is used to enable the inverted flight feature bool inverted_flight; @@ -285,7 +285,7 @@ private: // These are used in the calculation of elevon1_trim and elevon2_trim uint16_t ch1_temp; uint16_t ch2_temp; - } elevon; + } elevon { 1500, 1500, 1500, 1500 }; // Failsafe struct { @@ -320,7 +320,7 @@ private: // A counter used to count down valid gps fixes to allow the gps estimate to settle // before recording our home position (and executing a ground start if we booted with an air start) - uint8_t ground_start_count; + uint8_t ground_start_count = 5; // true if we have a position estimate from AHRS bool have_position; @@ -356,11 +356,11 @@ private: #if FRSKY_TELEM_ENABLED == ENABLED // FrSky telemetry support - AP_Frsky_Telem frsky_telemetry; + AP_Frsky_Telem frsky_telemetry {ahrs, battery}; #endif // Airspeed Sensors - AP_Airspeed airspeed; + AP_Airspeed airspeed {aparm}; // ACRO controller state struct { @@ -388,7 +388,7 @@ private: // when ground steering is active, and for steering in auto-takeoff bool locked_course; float locked_course_err; - } steer_state; + } steer_state { -1, false, 0 }; // flight mode specific struct { @@ -432,7 +432,7 @@ private: int16_t initial_pitch_cd; // turn angle for next leg of mission - float next_turn_angle; + float next_turn_angle {90}; // filtered sink rate for landing float land_sink_rate; @@ -457,7 +457,7 @@ private: // this controls throttle suppression in auto modes bool throttle_suppressed; - AP_SpdHgtControl::FlightStage flight_stage; + AP_SpdHgtControl::FlightStage flight_stage = AP_SpdHgtControl::FLIGHT_NORMAL; // probability of aircraft is currently in flight. range from 0 to // 1 where 1 is 100% sure we're in flight @@ -475,22 +475,26 @@ private: // the aerodymamic load factor. This is calculated from the demanded // roll before the roll is clipped, using 1/sqrt(cos(nav_roll)) - float aerodynamic_load_factor; + float aerodynamic_load_factor = 1.0f; // a smoothed airspeed estimate, used for limiting roll angle float smoothed_airspeed; // Mission library - AP_Mission mission; + AP_Mission mission {ahrs, + FUNCTOR_BIND_MEMBER(&Plane::start_command_callback, bool, const AP_Mission::Mission_Command &), + FUNCTOR_BIND_MEMBER(&Plane::verify_command_callback, bool, const AP_Mission::Mission_Command &), + FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)}; + // terrain handling #if AP_TERRAIN_AVAILABLE - AP_Terrain terrain; + AP_Terrain terrain {ahrs, mission, rally}; #endif // Outback Challenge Failsafe Support #if OBC_FAILSAFE == ENABLED - APM_OBC obc; + APM_OBC obc {mission, barometer, gps, rcmap}; #endif /* @@ -532,7 +536,7 @@ private: // 3D Location vectors // Location structure defined in AP_Common - const struct Location &home; + const struct Location &home = ahrs.get_home(); // Flag for if we have g_gps lock and have set the home location in AHRS enum HomeState home_is_set; @@ -578,7 +582,7 @@ private: // INS variables // The main loop execution time. Seconds // This is the time between calls to the DCM algorithm and is the Integration time for the gyros. - float G_Dt; + float G_Dt = 0.02f; // Performance monitoring // Timer used to accrue data and trigger recording of the performanc monitoring log message @@ -601,13 +605,14 @@ private: // Camera/Antenna mount tracking and stabilisation stuff #if MOUNT == ENABLED // current_loc uses the baro/gps soloution for altitude rather than gps only. - AP_Mount camera_mount; + AP_Mount camera_mount {ahrs, current_loc}; #endif // Arming/Disarming mangement class - AP_Arming arming; + AP_Arming arming {ahrs, barometer, compass, home_is_set, + FUNCTOR_BIND_MEMBER(&Plane::gcs_send_text_P, void, gcs_severity, const prog_char_t *)}; - AP_Param param_loader; + AP_Param param_loader {var_info}; static const AP_Scheduler::Task scheduler_tasks[]; static const AP_Param::Info var_info[];