Tracker: use AP_FWVersion singleton

AntennaTracker/AntennaTracker.cpp

@@ -136,7 +136,7 @@ void Tracker::ten_hz_logging_loop()
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 Tracker::Tracker(void)
-    : DataFlash(fwver.fw_string, g.log_bitmask)
+    : DataFlash(g.log_bitmask)
 {
     memset(&current_loc, 0, sizeof(current_loc));
     memset(&vehicle, 0, sizeof(vehicle));

AntennaTracker/GCS_Mavlink.cpp

@@ -665,11 +665,6 @@ bool GCS_MAVLINK_Tracker::set_mode(uint8_t mode)
     return false;
 }
 
-const AP_FWVersion &GCS_MAVLINK_Tracker::get_fwver() const
-{
-    return tracker.fwver;
-}
-
 /* dummy methods to avoid having to link against AP_Camera */
 void AP_Camera::control_msg(mavlink_message_t const*) {}
 void AP_Camera::configure(float, float, float, float, float, float, float) {}

AntennaTracker/GCS_Mavlink.h

@@ -18,7 +18,6 @@ protected:
     AP_Mission *get_mission() override { return nullptr; };
     AP_Rally *get_rally() const override { return nullptr; };
     AP_Camera *get_camera() const override { return nullptr; };
-    const AP_FWVersion &get_fwver() const override;
 
     uint8_t sysid_my_gcs() const override;
 

AntennaTracker/system.cpp

@@ -14,7 +14,7 @@ void Tracker::init_tracker()
     serial_manager.init_console();
 
     hal.console->printf("\n\nInit %s\n\nFree RAM: %u\n",
-                        fwver.fw_string,
+                        AP::fwversion().fw_string,
                         (unsigned)hal.util->available_memory());
 
     // Check the EEPROM format version before loading any parameters from EEPROM

AntennaTracker/version.cpp

@@ -20,7 +20,7 @@
 
 #include <AP_Common/AP_FWVersion.h>
 
-const AP_FWVersion Tracker::fwver{
+const AP_FWVersion AP_FWVersion::fwver{
     .major = FW_MAJOR,
     .minor = FW_MINOR,
     .patch = FW_PATCH,
@@ -32,9 +32,16 @@ const AP_FWVersion Tracker::fwver{
     .fw_hash_str = GIT_VERSION,
 #endif
 #ifdef PX4_GIT_VERSION
+    .middleware_name = "PX4",
     .middleware_hash_str = PX4_GIT_VERSION,
 #endif
 #ifdef NUTTX_GIT_VERSION
+    .os_name = "NuttX",
     .os_hash_str = NUTTX_GIT_VERSION,
+#elif defined(CHIBIOS_GIT_VERSION)
+    .middleware_name = nullptr,
+    .middleware_hash_str = nullptr,
+    .os_name = "ChibiOS",
+    .os_hash_str = CHIBIOS_GIT_VERSION,
 #endif
 };