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ArduPlane: move initialisation of serial and gcs to AP_Vehicle

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Peter Barker 2020-02-12 12:01:17 +11:00 committed by Andrew Tridgell
parent ae2578e5c9
commit 5ff1630c63
4 changed files with 7 additions and 11 deletions
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5
ArduPlane/GCS_Plane.cpp
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@ -1,6 +1,11 @@
#include "GCS_Plane.h" #include "GCS_Plane.h"
#include "Plane.h" #include "Plane.h"
uint8_t GCS_Plane::sysid_this_mav() const
{
return plane.g.sysid_this_mav;
}
void GCS_Plane::update_vehicle_sensor_status_flags(void) void GCS_Plane::update_vehicle_sensor_status_flags(void)
{ {
// first what sensors/controllers we have // first what sensors/controllers we have

1
ArduPlane/GCS_Plane.h
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@ -27,6 +27,7 @@ public:
protected: protected:
uint8_t sysid_this_mav() const override;
void update_vehicle_sensor_status_flags(void) override; void update_vehicle_sensor_status_flags(void) override;
uint32_t custom_mode() const override; uint32_t custom_mode() const override;
MAV_TYPE frame_type() const override; MAV_TYPE frame_type() const override;

2
ArduPlane/Plane.h
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@ -869,7 +869,7 @@ private:
void update_fbwb_speed_height(void); void update_fbwb_speed_height(void);
void setup_turn_angle(void); void setup_turn_angle(void);
bool reached_loiter_target(void); bool reached_loiter_target(void);
void set_control_channels(void); void set_control_channels(void) override;
void init_rc_in(); void init_rc_in();
void init_rc_out_main(); void init_rc_out_main();
void init_rc_out_aux(); void init_rc_out_aux();

10
ArduPlane/system.cpp
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@ -31,16 +31,6 @@ void Plane::init_ardupilot()
ins.set_log_raw_bit(MASK_LOG_IMU_RAW); ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
set_control_channels();
mavlink_system.sysid = g.sysid_this_mav;
// initialise serial ports
serial_manager.init();
gcs().setup_console();
register_scheduler_delay_callback();
// setup any board specific drivers // setup any board specific drivers
BoardConfig.init(); BoardConfig.init();
#if HAL_WITH_UAVCAN #if HAL_WITH_UAVCAN