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Tracker: changed startup order

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this allows BoardConfig to report errors in a way that allows for
BRD_TYPE to be changed by the user
This commit is contained in:
Andrew Tridgell 2016-08-03 17:17:24 +10:00
parent a0d4feb216
commit 80bad445b8
1 changed files with 11 additions and 8 deletions
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19
AntennaTracker/system.cpp
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@ -28,11 +28,20 @@ void Tracker::init_tracker()
// Check the EEPROM format version before loading any parameters from EEPROM // Check the EEPROM format version before loading any parameters from EEPROM
load_parameters(); load_parameters();
BoardConfig.init(); GCS_MAVLINK::set_dataflash(&DataFlash);
// initialise serial ports // initialise serial ports
serial_manager.init(); serial_manager.init();
// setup first port early to allow BoardConfig to report errors
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
BoardConfig.init();
// init baro before we start the GCS, so that the CLI baro test works // init baro before we start the GCS, so that the CLI baro test works
barometer.init(); barometer.init();
@ -42,23 +51,17 @@ void Tracker::init_tracker()
check_usb_mux(); check_usb_mux();
// setup telem slots with serial ports // setup telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) { for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i); gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
gcs[i].set_snoop(mavlink_snoop_static); gcs[i].set_snoop(mavlink_snoop_static);
} }
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
mavlink_system.sysid = g.sysid_this_mav; mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
log_init(); log_init();
#endif #endif
GCS_MAVLINK::set_dataflash(&DataFlash);
if (g.compass_enabled==true) { if (g.compass_enabled==true) {
if (!compass.init() || !compass.read()) { if (!compass.init() || !compass.read()) {
hal.console->println("Compass initialisation failed!"); hal.console->println("Compass initialisation failed!");