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Plane: simpler initalisation of plane class

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take advantage of C++11 in-class initialisation
This commit is contained in:
Andrew Tridgell 2015-06-01 08:48:54 +10:00
parent e5e21ddcce
commit 1797e2baa8
2 changed files with 43 additions and 98 deletions
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64
ArduPlane/Plane.cpp
View File

@ -22,72 +22,12 @@
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
Plane::Plane(void) : 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)
{ {
elevon.trim1 = 1500; // C++11 doesn't allow in-class initialisation of bitfields
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;
auto_state.takeoff_complete = true; auto_state.takeoff_complete = true;
auto_state.next_wp_no_crosstrack = true; auto_state.next_wp_no_crosstrack = true;
auto_state.no_crosstrack = true; auto_state.no_crosstrack = true;
auto_state.next_turn_angle = 90.0f;
} }
Plane plane; Plane plane;

77
ArduPlane/Plane.h
View File

@ -119,7 +119,7 @@ private:
AP_HAL::BetterStream* cliSerial; AP_HAL::BetterStream* cliSerial;
// the rate we run the main loop // 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. // Global parameters are all contained within the 'g' class.
Parameters g; Parameters g;
@ -148,7 +148,7 @@ private:
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
DataFlash_APM2 DataFlash; DataFlash_APM2 DataFlash;
#elif defined(HAL_BOARD_LOG_DIRECTORY) #elif defined(HAL_BOARD_LOG_DIRECTORY)
DataFlash_File DataFlash; DataFlash_File DataFlash {HAL_BOARD_LOG_DIRECTORY};
#else #else
// no dataflash driver // no dataflash driver
DataFlash_Empty DataFlash; DataFlash_Empty DataFlash;
@ -165,7 +165,7 @@ private:
AP_GPS gps; AP_GPS gps;
// flight modes convenience array // flight modes convenience array
AP_Int8 *flight_modes; AP_Int8 *flight_modes = &g.flight_mode1;
AP_Baro barometer; AP_Baro barometer;
Compass compass; Compass compass;
@ -174,19 +174,19 @@ private:
// Inertial Navigation EKF // Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF ahrs; AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder};
#else #else
AP_AHRS_DCM ahrs; AP_AHRS_DCM ahrs {ins, barometer, gps};
#endif #endif
AP_L1_Control L1_controller; AP_L1_Control L1_controller {ahrs};
AP_TECS TECS_controller; AP_TECS TECS_controller {ahrs, aparm};
// Attitude to servo controllers // Attitude to servo controllers
AP_RollController rollController; AP_RollController rollController {ahrs, aparm, DataFlash};
AP_PitchController pitchController; AP_PitchController pitchController {ahrs, aparm, DataFlash};
AP_YawController yawController; AP_YawController yawController {ahrs, aparm};
AP_SteerController steerController; AP_SteerController steerController {ahrs};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL sitl; SITL sitl;
@ -216,14 +216,14 @@ private:
// GCS selection // GCS selection
AP_SerialManager serial_manager; 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]; GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
// selected navigation controller // selected navigation controller
AP_Navigation *nav_controller; AP_Navigation *nav_controller = &L1_controller;
// selected navigation controller // selected navigation controller
AP_SpdHgtControl *SpdHgt_Controller; AP_SpdHgtControl *SpdHgt_Controller = &TECS_controller;
// Analog Inputs // Analog Inputs
// a pin for reading the receiver RSSI voltage. // a pin for reading the receiver RSSI voltage.
@ -245,30 +245,30 @@ private:
AP_Relay relay; AP_Relay relay;
// handle servo and relay events // handle servo and relay events
AP_ServoRelayEvents ServoRelayEvents; AP_ServoRelayEvents ServoRelayEvents {relay};
// Camera // Camera
#if CAMERA == ENABLED #if CAMERA == ENABLED
AP_Camera camera; AP_Camera camera {&relay};
#endif #endif
// Optical flow sensor // Optical flow sensor
OpticalFlow optflow; OpticalFlow optflow;
// Rally Ponints // Rally Ponints
AP_Rally rally; AP_Rally rally {ahrs};
// remember if USB is connected, so we can adjust baud rate // remember if USB is connected, so we can adjust baud rate
bool usb_connected; bool usb_connected;
// This is the state of the flight control system // This is the state of the flight control system
// There are multiple states defined such as MANUAL, FBW-A, AUTO // There are multiple states defined such as MANUAL, FBW-A, AUTO
enum FlightMode control_mode; enum FlightMode control_mode = INITIALISING;
enum FlightMode previous_mode; enum FlightMode previous_mode = INITIALISING;
// Used to maintain the state of the previous control switch position // Used to maintain the state of the previous control switch position
// This is set to 254 when we need to re-read the switch // 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 // This is used to enable the inverted flight feature
bool inverted_flight; bool inverted_flight;
@ -285,7 +285,7 @@ private:
// These are used in the calculation of elevon1_trim and elevon2_trim // These are used in the calculation of elevon1_trim and elevon2_trim
uint16_t ch1_temp; uint16_t ch1_temp;
uint16_t ch2_temp; uint16_t ch2_temp;
} elevon; } elevon { 1500, 1500, 1500, 1500 };
// Failsafe // Failsafe
struct { struct {
@ -320,7 +320,7 @@ private:
// A counter used to count down valid gps fixes to allow the gps estimate to settle // 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) // 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 // true if we have a position estimate from AHRS
bool have_position; bool have_position;
@ -356,11 +356,11 @@ private:
#if FRSKY_TELEM_ENABLED == ENABLED #if FRSKY_TELEM_ENABLED == ENABLED
// FrSky telemetry support // FrSky telemetry support
AP_Frsky_Telem frsky_telemetry; AP_Frsky_Telem frsky_telemetry {ahrs, battery};
#endif #endif
// Airspeed Sensors // Airspeed Sensors
AP_Airspeed airspeed; AP_Airspeed airspeed {aparm};
// ACRO controller state // ACRO controller state
struct { struct {
@ -388,7 +388,7 @@ private:
// when ground steering is active, and for steering in auto-takeoff // when ground steering is active, and for steering in auto-takeoff
bool locked_course; bool locked_course;
float locked_course_err; float locked_course_err;
} steer_state; } steer_state { -1, false, 0 };
// flight mode specific // flight mode specific
struct { struct {
@ -432,7 +432,7 @@ private:
int16_t initial_pitch_cd; int16_t initial_pitch_cd;
// turn angle for next leg of mission // turn angle for next leg of mission
float next_turn_angle; float next_turn_angle {90};
// filtered sink rate for landing // filtered sink rate for landing
float land_sink_rate; float land_sink_rate;
@ -457,7 +457,7 @@ private:
// this controls throttle suppression in auto modes // this controls throttle suppression in auto modes
bool throttle_suppressed; 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 // probability of aircraft is currently in flight. range from 0 to
// 1 where 1 is 100% sure we're in flight // 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 // the aerodymamic load factor. This is calculated from the demanded
// roll before the roll is clipped, using 1/sqrt(cos(nav_roll)) // 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 // a smoothed airspeed estimate, used for limiting roll angle
float smoothed_airspeed; float smoothed_airspeed;
// Mission library // 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 // terrain handling
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE
AP_Terrain terrain; AP_Terrain terrain {ahrs, mission, rally};
#endif #endif
// Outback Challenge Failsafe Support // Outback Challenge Failsafe Support
#if OBC_FAILSAFE == ENABLED #if OBC_FAILSAFE == ENABLED
APM_OBC obc; APM_OBC obc {mission, barometer, gps, rcmap};
#endif #endif
/* /*
@ -532,7 +536,7 @@ private:
// 3D Location vectors // 3D Location vectors
// Location structure defined in AP_Common // 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 // Flag for if we have g_gps lock and have set the home location in AHRS
enum HomeState home_is_set; enum HomeState home_is_set;
@ -578,7 +582,7 @@ private:
// INS variables // INS variables
// The main loop execution time. Seconds // The main loop execution time. Seconds
// This is the time between calls to the DCM algorithm and is the Integration time for the gyros. // 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 // Performance monitoring
// Timer used to accrue data and trigger recording of the performanc monitoring log message // 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 // Camera/Antenna mount tracking and stabilisation stuff
#if MOUNT == ENABLED #if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only. // 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 #endif
// Arming/Disarming mangement class // 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_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[]; static const AP_Param::Info var_info[];