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AP_Vehicle: move initialisation of serial and gcs to AP_Vehicle

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This commit is contained in:
Peter Barker 2020-02-12 12:01:17 +11:00 committed by Andrew Tridgell
parent 2b7af4d70b
commit 2ede027635
2 changed files with 20 additions and 9 deletions
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26
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -58,6 +58,25 @@ void AP_Vehicle::setup()
// actual loop rate
G_Dt = scheduler.get_loop_period_s();
// this is here for Plane; its failsafe_check method requires the
// RC channels to be set as early as possible for maximum
// survivability.
set_control_channels();
// initialise serial manager as early as sensible to get
// diagnostic output during boot process. We have to initialise
// the GCS singleton first as it sets the global mavlink system ID
// which may get used very early on.
gcs().init();
// initialise serial ports
serial_manager.init();
gcs().setup_console();
// Register scheduler_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(scheduler_delay_callback, 5);
// init_ardupilot is where the vehicle does most of its initialisation.
init_ardupilot();
// gyro FFT needs to be initialized really late
@ -134,13 +153,6 @@ void AP_Vehicle::scheduler_delay_callback()
logger.EnableWrites(true);
}
void AP_Vehicle::register_scheduler_delay_callback()
{
// Register scheduler_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(scheduler_delay_callback, 5);
}
AP_Vehicle *AP_Vehicle::_singleton = nullptr;
AP_Vehicle *AP_Vehicle::get_singleton()

3
libraries/AP_Vehicle/AP_Vehicle.h
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@ -165,6 +165,7 @@ protected:
virtual void init_ardupilot() = 0;
virtual void load_parameters() = 0;
virtual void set_control_channels() {}
// board specific config
AP_BoardConfig BoardConfig;
@ -223,8 +224,6 @@ protected:
static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Scheduler::Task scheduler_tasks[];
void register_scheduler_delay_callback();
private:
static AP_Vehicle *_singleton;