mirror of https://github.com/ArduPilot/ardupilot
Rover: move many members up to base class
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
347c247ad0
commit
3bf9a45ed1
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@ -4,6 +4,7 @@
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#include "RC_Channel.h"
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#include "AC_Sprayer/AC_Sprayer.h"
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#include "AP_Gripper/AP_Gripper.h"
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#include "AP_Rally.h"
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// Global parameter class.
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@ -35,6 +35,8 @@
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#include "version.h"
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#undef FORCE_VERSION_H_INCLUDE
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#include "AP_Gripper/AP_Gripper.h"
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros)
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@ -114,6 +116,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
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constexpr int8_t Rover::_failsafe_priorities[7];
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Rover::Rover(void) :
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AP_Vehicle(),
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param_loader(var_info),
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channel_steer(nullptr),
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channel_throttle(nullptr),
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@ -31,13 +31,9 @@
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#include <AP_Baro/AP_Baro.h>
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#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
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#include <AP_Beacon/AP_Beacon.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
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#include <AP_Button/AP_Button.h>
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#include <AP_Camera/AP_Camera.h> // Camera triggering
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#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Declination/AP_Declination.h> // Compass declination library
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#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
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#include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
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#include <AP_L1_Control/AP_L1_Control.h>
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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@ -46,18 +42,11 @@
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#include <AP_NavEKF2/AP_NavEKF2.h>
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#include <AP_NavEKF3/AP_NavEKF3.h>
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#include <AP_Navigation/AP_Navigation.h>
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
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#include <AP_Param/AP_Param.h>
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#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
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#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
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#include <AP_Relay/AP_Relay.h> // APM relay
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#include <AP_RPM/AP_RPM.h>
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#include <AP_RSSI/AP_RSSI.h> // RSSI Library
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#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
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#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
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#include <AP_Gripper/AP_Gripper.h>
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#include <AP_Stats/AP_Stats.h> // statistics library
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#include <AP_Terrain/AP_Terrain.h>
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#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
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@ -73,7 +62,6 @@
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#include <Filter/Filter.h> // Filter library
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#include <Filter/LowPassFilter.h>
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#include <Filter/ModeFilter.h> // Mode Filter from Filter library
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#include <StorageManager/StorageManager.h>
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#include <AC_Fence/AC_Fence.h>
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#include <AP_Proximity/AP_Proximity.h>
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#include <AC_Avoidance/AC_Avoid.h>
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@ -159,14 +147,6 @@ private:
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// mapping between input channels
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RCMapper rcmap;
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// board specific config
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AP_BoardConfig BoardConfig;
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#if HAL_WITH_UAVCAN
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// board specific config for CAN bus
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AP_BoardConfig_CAN BoardConfig_CAN;
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#endif
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// primary control channels
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RC_Channel *channel_steer;
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RC_Channel *channel_throttle;
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@ -174,14 +154,6 @@ private:
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AP_Logger logger;
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// sensor drivers
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AP_GPS gps;
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AP_Baro barometer;
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Compass compass;
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AP_InertialSensor ins;
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RangeFinder rangefinder;
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AP_Button button;
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// flight modes convenience array
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AP_Int8 *modes;
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const uint8_t num_modes = 6;
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@ -207,9 +179,6 @@ private:
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OpticalFlow optflow;
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#endif
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// RSSI
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AP_RSSI rssi;
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#if OSD_ENABLED == ENABLED
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AP_OSD osd;
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#endif
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@ -218,8 +187,6 @@ private:
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SITL::SITL sitl;
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#endif
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AP_SerialManager serial_manager;
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// GCS handling
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GCS_Rover _gcs; // avoid using this; use gcs()
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GCS_Rover &gcs() { return _gcs; }
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@ -227,11 +194,6 @@ private:
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// RC Channels:
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RC_Channels_Rover &rc() { return g2.rc_channels; }
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// relay support
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AP_Relay relay;
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AP_ServoRelayEvents ServoRelayEvents;
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// The rover's current location
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struct Location current_loc;
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@ -268,9 +230,6 @@ private:
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bool ekf;
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} failsafe;
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// notification object for LEDs, buzzers etc (parameter set to false disables external leds)
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AP_Notify notify;
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// true if we have a position estimate from AHRS
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bool have_position;
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@ -496,7 +455,6 @@ public:
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float simple_sin_yaw;
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};
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extern const AP_HAL::HAL& hal;
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extern Rover rover;
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using AP_HAL::millis;
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