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Sub: move setup method up to AP_Vehicle base class

This commit is contained in:
Peter Barker 2020-01-16 21:31:00 +11:00 committed by Andrew Tridgell
parent a45abc7762
commit 87b84ec196
2 changed files with 12 additions and 12 deletions
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18
ArduSub/ArduSub.cpp
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@ -80,19 +80,17 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
#endif
};
constexpr int8_t Sub::_failsafe_priorities[5];
void Sub::setup()
void Sub::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
uint8_t &task_count,
uint32_t &log_bit)
{
// Load the default values of variables listed in var_info[]s
AP_Param::setup_sketch_defaults();
init_ardupilot();
// initialise the main loop scheduler
scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), MASK_LOG_PM);
tasks = &scheduler_tasks[0];
task_count = ARRAY_SIZE(scheduler_tasks);
log_bit = MASK_LOG_PM;
}
constexpr int8_t Sub::_failsafe_priorities[5];
void Sub::loop()
{
scheduler.loop();

6
ArduSub/Sub.h
View File

@ -132,7 +132,6 @@ public:
Sub(void);
// HAL::Callbacks implementation.
void setup() override;
void loop() override;
private:
@ -573,7 +572,10 @@ private:
#endif
void terrain_update();
void terrain_logging();
void init_ardupilot();
void init_ardupilot() override;
void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
uint8_t &task_count,
uint32_t &log_bit) override;
void startup_INS_ground();
bool position_ok();
bool ekf_position_ok();