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ArduCopter: implement HAL::Callbacks

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Also removes includes for each board since they are not necessary
anymore.
This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-10-19 16:25:33 -02:00 committed by Andrew Tridgell
parent b29d6eff5d
commit 3e3f13659d
2 changed files with 9 additions and 30 deletions
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18
ArduCopter/ArduCopter.cpp
View File

@ -644,20 +644,4 @@ void Copter::update_altitude()
}
}
/*
compatibility with old pde style build
*/
void setup(void);
void loop(void);
void setup(void)
{
copter.setup();
}
void loop(void)
{
copter.loop();
}
AP_HAL_MAIN();
AP_HAL_MAIN_CALLBACKS(&copter);

21
ArduCopter/Copter.h
View File

@ -32,21 +32,14 @@
#include <stdio.h>
#include <stdarg.h>
#include <AP_HAL/AP_HAL.h>
// Common dependencies
#include <AP_Common/AP_Common.h>
#include <AP_Progmem/AP_Progmem.h>
#include <AP_Menu/AP_Menu.h>
#include <AP_Param/AP_Param.h>
#include <StorageManager/StorageManager.h>
// AP_HAL
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL_AVR/AP_HAL_AVR.h>
#include <AP_HAL_SITL/AP_HAL_SITL.h>
#include <AP_HAL_PX4/AP_HAL_PX4.h>
#include <AP_HAL_VRBRAIN/AP_HAL_VRBRAIN.h>
#include <AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE.h>
#include <AP_HAL_Linux/AP_HAL_Linux.h>
#include <AP_HAL_Empty/AP_HAL_Empty.h>
// Application dependencies
#include <GCS_MAVLink/GCS.h>
@ -124,14 +117,16 @@
// Local modules
#include "Parameters.h"
class Copter {
public:
class Copter : public AP_HAL::HAL::Callbacks {
public:
friend class GCS_MAVLINK;
friend class Parameters;
Copter(void);
void setup();
void loop();
// HAL::Callbacks implementation.
void setup() override;
void loop() override;
private:
// key aircraft parameters passed to multiple libraries