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Rover: move contents of Rover.cpp to APMrover2.cpp

This commit is contained in:
Lyuyang Hu 2019-07-11 09:05:55 +09:00 committed by Randy Mackay
parent ef8baf28ad
commit 43719d5e5d
2 changed files with 18 additions and 37 deletions
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20
APMrover2/APMrover2.cpp
View File

@ -31,9 +31,11 @@
#include "Rover.h"
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define FORCE_VERSION_H_INCLUDE
#include "version.h"
#undef FORCE_VERSION_H_INCLUDE
Rover rover;
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros)
@ -107,6 +109,18 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
constexpr int8_t Rover::_failsafe_priorities[7];
Rover::Rover(void) :
param_loader(var_info),
channel_steer(nullptr),
channel_throttle(nullptr),
channel_lateral(nullptr),
logger{g.log_bitmask},
modes(&g.mode1),
control_mode(&mode_initializing),
G_Dt(0.02f)
{
}
#if STATS_ENABLED == ENABLED
/*
update AP_Stats
@ -319,4 +333,6 @@ void Rover::update_mission(void)
}
}
Rover rover;
AP_HAL_MAIN_CALLBACKS(&rover);

35
APMrover2/Rover.cpp
View File

@ -1,35 +0,0 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
main Rover class, containing all vehicle specific state
*/
#include "Rover.h"
#define FORCE_VERSION_H_INCLUDE
#include "version.h"
#undef FORCE_VERSION_H_INCLUDE
Rover::Rover(void) :
param_loader(var_info),
channel_steer(nullptr),
channel_throttle(nullptr),
channel_lateral(nullptr),
logger{g.log_bitmask},
modes(&g.mode1),
control_mode(&mode_initializing),
G_Dt(0.02f)
{
}