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https://github.com/ArduPilot/ardupilot
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Copter: made more variables static
This commit is contained in:
Andrew Tridgell
parent
a12323c9fd
commit
501eb4f0b4
@ -120,7 +120,7 @@
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////////////////////////////////////////////////////////////////////////////////
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// cliSerial isn't strictly necessary - it is an alias for hal.console. It may
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// be deprecated in favor of hal.console in later releases.
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AP_HAL::BetterStream* cliSerial;
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static AP_HAL::BetterStream* cliSerial;
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// N.B. we need to keep a static declaration which isn't guarded by macros
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// at the top to cooperate with the prototype mangler.
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@ -141,7 +141,7 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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static Parameters g;
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// main loop scheduler
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AP_Scheduler scheduler;
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static AP_Scheduler scheduler;
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////////////////////////////////////////////////////////////////////////////////
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// prototypes
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@ -152,13 +152,16 @@ static void update_events(void);
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// Dataflash
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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DataFlash_APM2 DataFlash;
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static DataFlash_APM2 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
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DataFlash_APM1 DataFlash;
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static DataFlash_APM1 DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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DataFlash_SITL DataFlash;
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//static DataFlash_File DataFlash("/tmp/APMlogs");
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static DataFlash_SITL DataFlash;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static DataFlash_File DataFlash("/fs/microsd/APM/logs");
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#else
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DataFlash_Empty DataFlash;
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static DataFlash_Empty DataFlash;
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#endif
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@ -189,44 +192,44 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
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#if HIL_MODE == HIL_MODE_DISABLED
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#if CONFIG_ADC == ENABLED
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AP_ADC_ADS7844 adc;
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static AP_ADC_ADS7844 adc;
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#endif
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#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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AP_InertialSensor_MPU6000 ins;
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static AP_InertialSensor_MPU6000 ins;
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
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AP_InertialSensor_Oilpan ins(&adc);
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static AP_InertialSensor_Oilpan ins(&adc);
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_SITL
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AP_InertialSensor_Stub ins;
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static AP_InertialSensor_Stub ins;
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#elif CONFIG_IMU_TYPE == CONFIG_IMU_PX4
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AP_InertialSensor_PX4 ins;
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static AP_InertialSensor_PX4 ins;
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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// When building for SITL we use the HIL barometer and compass drivers
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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SITL sitl;
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static AP_Baro_BMP085_HIL barometer;
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static AP_Compass_HIL compass;
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static SITL sitl;
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#else
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// Otherwise, instantiate a real barometer and compass driver
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#if CONFIG_BARO == AP_BARO_BMP085
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AP_Baro_BMP085 barometer;
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static AP_Baro_BMP085 barometer;
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#elif CONFIG_BARO == AP_BARO_PX4
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AP_Baro_PX4 barometer;
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static AP_Baro_PX4 barometer;
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#elif CONFIG_BARO == AP_BARO_MS5611
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#if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI
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AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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#elif CONFIG_MS5611_SERIAL == AP_BARO_MS5611_I2C
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AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
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#else
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#error Unrecognized CONFIG_MS5611_SERIAL setting.
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#endif
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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AP_Compass_PX4 compass;
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static AP_Compass_PX4 compass;
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#else
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AP_Compass_HMC5843 compass;
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static AP_Compass_HMC5843 compass;
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#endif
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#endif
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@ -257,45 +260,45 @@ AP_GPS_None g_gps_driver();
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#endif // GPS PROTOCOL
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#if DMP_ENABLED == ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_AHRS_MPU6000 ahrs(&ins, g_gps); // only works with APM2
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static AP_AHRS_MPU6000 ahrs(&ins, g_gps); // only works with APM2
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#else
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AP_AHRS_DCM ahrs(&ins, g_gps);
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static AP_AHRS_DCM ahrs(&ins, g_gps);
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#endif
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// ahrs2 object is the secondary ahrs to allow running DMP in parallel with DCM
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#if SECONDARY_DMP_ENABLED == ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_AHRS_MPU6000 ahrs2(&ins, g_gps); // only works with APM2
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static AP_AHRS_MPU6000 ahrs2(&ins, g_gps); // only works with APM2
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#endif
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#elif HIL_MODE == HIL_MODE_SENSORS
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// sensor emulators
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AP_ADC_HIL adc;
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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AP_GPS_HIL g_gps_driver;
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AP_InertialSensor_Stub ins;
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AP_AHRS_DCM ahrs(&ins, g_gps);
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static AP_ADC_HIL adc;
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static AP_Baro_BMP085_HIL barometer;
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static AP_Compass_HIL compass;
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static AP_GPS_HIL g_gps_driver;
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static AP_InertialSensor_Stub ins;
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static AP_AHRS_DCM ahrs(&ins, g_gps);
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static int32_t gps_base_alt;
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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// When building for SITL we use the HIL barometer and compass drivers
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SITL sitl;
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static SITL sitl;
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#endif
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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AP_ADC_HIL adc;
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AP_InertialSensor_Stub ins;
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AP_AHRS_HIL ahrs(&ins, g_gps);
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AP_GPS_HIL g_gps_driver;
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AP_Compass_HIL compass; // never used
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AP_Baro_BMP085_HIL barometer;
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static AP_ADC_HIL adc;
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static AP_InertialSensor_Stub ins;
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static AP_AHRS_HIL ahrs(&ins, g_gps);
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static AP_GPS_HIL g_gps_driver;
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static AP_Compass_HIL compass; // never used
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static AP_Baro_BMP085_HIL barometer;
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static int32_t gps_base_alt;
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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// When building for SITL we use the HIL barometer and compass drivers
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SITL sitl;
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static SITL sitl;
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#endif
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#else
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@ -306,16 +309,16 @@ SITL sitl;
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// Optical flow sensor
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////////////////////////////////////////////////////////////////////////////////
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#if OPTFLOW == ENABLED
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AP_OpticalFlow_ADNS3080 optflow;
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static AP_OpticalFlow_ADNS3080 optflow;
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#else
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AP_OpticalFlow optflow;
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static AP_OpticalFlow optflow;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// GCS selection
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////////////////////////////////////////////////////////////////////////////////
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GCS_MAVLINK gcs0;
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GCS_MAVLINK gcs3;
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static GCS_MAVLINK gcs0;
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static GCS_MAVLINK gcs3;
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////////////////////////////////////////////////////////////////////////////////
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// SONAR selection
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@ -323,8 +326,8 @@ GCS_MAVLINK gcs3;
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//
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ModeFilterInt16_Size3 sonar_mode_filter(1);
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#if CONFIG_SONAR == ENABLED
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AP_HAL::AnalogSource *sonar_analog_source;
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AP_RangeFinder_MaxsonarXL *sonar;
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static AP_HAL::AnalogSource *sonar_analog_source;
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static AP_RangeFinder_MaxsonarXL *sonar;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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@ -429,11 +432,11 @@ static uint8_t receiver_rssi;
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#endif
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#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
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MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
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static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
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#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
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MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
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static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
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#else
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MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
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static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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@ -482,7 +485,7 @@ static float scaleLongDown = 1;
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static const float radius_of_earth = 6378100; // meters
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// Unions for getting byte values
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union float_int {
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static union float_int {
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int32_t int_value;
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float float_value;
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} float_int;
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@ -566,13 +569,13 @@ static float target_alt_for_reporting; // target altitude for reporting (lo
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// ACRO Mode
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////////////////////////////////////////////////////////////////////////////////
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// Used to control Axis lock
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int32_t roll_axis;
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int32_t pitch_axis;
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static int32_t roll_axis;
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static int32_t pitch_axis;
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// Filters
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#if FRAME_CONFIG == HELI_FRAME
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LowPassFilterFloat rate_roll_filter; // Rate Roll filter
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LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter
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static LowPassFilterFloat rate_roll_filter; // Rate Roll filter
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static LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter
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// LowPassFilterFloat rate_yaw_filter; // Rate Yaw filter
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#endif // HELI_FRAME
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@ -743,13 +746,13 @@ static float G_Dt = 0.02;
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////////////////////////////////////////////////////////////////////////////////
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// Inertial Navigation
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////////////////////////////////////////////////////////////////////////////////
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AP_InertialNav inertial_nav(&ahrs, &ins, &barometer, &g_gps);
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static AP_InertialNav inertial_nav(&ahrs, &ins, &barometer, &g_gps);
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////////////////////////////////////////////////////////////////////////////////
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// Waypoint navigation object
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// To-Do: move inertial nav up or other navigation variables down here
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////////////////////////////////////////////////////////////////////////////////
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AC_WPNav wp_nav(&inertial_nav, &g.pi_loiter_lat, &g.pi_loiter_lon, &g.pid_loiter_rate_lat, &g.pid_loiter_rate_lon);
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static AC_WPNav wp_nav(&inertial_nav, &g.pi_loiter_lat, &g.pi_loiter_lon, &g.pid_loiter_rate_lat, &g.pid_loiter_rate_lon);
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////////////////////////////////////////////////////////////////////////////////
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// Performance monitoring
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@ -782,22 +785,22 @@ static uint32_t last_gps_time;
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static uint8_t auto_trim_counter;
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// Reference to the relay object (APM1 -> PORTL 2) (APM2 -> PORTB 7)
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AP_Relay relay;
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static AP_Relay relay;
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//Reference to the camera object (it uses the relay object inside it)
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#if CAMERA == ENABLED
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AP_Camera camera(&relay);
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static AP_Camera camera(&relay);
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#endif
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// a pin for reading the receiver RSSI voltage. The scaling by 0.25
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// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
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AP_HAL::AnalogSource* rssi_analog_source;
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static AP_HAL::AnalogSource* rssi_analog_source;
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// Input sources for battery voltage, battery current, board vcc
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AP_HAL::AnalogSource* batt_volt_analog_source;
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AP_HAL::AnalogSource* batt_curr_analog_source;
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AP_HAL::AnalogSource* board_vcc_analog_source;
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static AP_HAL::AnalogSource* batt_volt_analog_source;
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static AP_HAL::AnalogSource* batt_curr_analog_source;
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static AP_HAL::AnalogSource* board_vcc_analog_source;
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#if CLI_ENABLED == ENABLED
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@ -809,13 +812,13 @@ AP_HAL::AnalogSource* board_vcc_analog_source;
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#if MOUNT == ENABLED
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// current_loc uses the baro/gps soloution for altitude rather than gps only.
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// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
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AP_Mount camera_mount(¤t_loc, g_gps, &ahrs, 0);
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static AP_Mount camera_mount(¤t_loc, g_gps, &ahrs, 0);
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#endif
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#if MOUNT2 == ENABLED
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// current_loc uses the baro/gps soloution for altitude rather than gps only.
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// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
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AP_Mount camera_mount2(¤t_loc, g_gps, &ahrs, 1);
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static AP_Mount camera_mount2(¤t_loc, g_gps, &ahrs, 1);
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#endif
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