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Plane: setup quadplane earlier in startup

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this ensures the GCS gets the full parameter list as the param count
will be set before mavlink starts
This commit is contained in:
Andrew Tridgell 2016-04-03 06:49:38 +10:00
parent 5cc4b20c73
commit 8b30569ad1
2 changed files with 11 additions and 10 deletions
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15
ArduPlane/quadplane.cpp
View File

@ -271,6 +271,7 @@ bool QuadPlane::setup(void)
if (!enable || hal.util->get_soft_armed()) { if (!enable || hal.util->get_soft_armed()) {
return false; return false;
} }
float loop_delta_t = 1.0 / plane.scheduler.get_loop_rate_hz();
if (hal.util->available_memory() < if (hal.util->available_memory() <
4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav)) { 4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav)) {
@ -286,19 +287,19 @@ bool QuadPlane::setup(void)
switch ((enum frame_class)frame_class.get()) { switch ((enum frame_class)frame_class.get()) {
case FRAME_CLASS_QUAD: case FRAME_CLASS_QUAD:
setup_default_channels(4); setup_default_channels(4);
motors = new AP_MotorsQuad(plane.ins.get_sample_rate()); motors = new AP_MotorsQuad(plane.scheduler.get_loop_rate_hz());
break; break;
case FRAME_CLASS_HEXA: case FRAME_CLASS_HEXA:
setup_default_channels(6); setup_default_channels(6);
motors = new AP_MotorsHexa(plane.ins.get_sample_rate()); motors = new AP_MotorsHexa(plane.scheduler.get_loop_rate_hz());
break; break;
case FRAME_CLASS_OCTA: case FRAME_CLASS_OCTA:
setup_default_channels(8); setup_default_channels(8);
motors = new AP_MotorsOcta(plane.ins.get_sample_rate()); motors = new AP_MotorsOcta(plane.scheduler.get_loop_rate_hz());
break; break;
case FRAME_CLASS_OCTAQUAD: case FRAME_CLASS_OCTAQUAD:
setup_default_channels(8); setup_default_channels(8);
motors = new AP_MotorsOctaQuad(plane.ins.get_sample_rate()); motors = new AP_MotorsOctaQuad(plane.scheduler.get_loop_rate_hz());
break; break;
default: default:
hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get()); hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get());
@ -310,7 +311,7 @@ bool QuadPlane::setup(void)
} }
AP_Param::load_object_from_eeprom(motors, motors->var_info); AP_Param::load_object_from_eeprom(motors, motors->var_info);
attitude_control = new AC_AttitudeControl_Multi(ahrs, aparm, *motors, plane.ins.get_loop_delta_t()); attitude_control = new AC_AttitudeControl_Multi(ahrs, aparm, *motors, loop_delta_t);
if (!attitude_control) { if (!attitude_control) {
hal.console->printf("Unable to allocate attitude_control\n"); hal.console->printf("Unable to allocate attitude_control\n");
goto failed; goto failed;
@ -337,8 +338,8 @@ bool QuadPlane::setup(void)
motors->set_hover_throttle(throttle_mid); motors->set_hover_throttle(throttle_mid);
motors->set_update_rate(rc_speed); motors->set_update_rate(rc_speed);
motors->set_interlock(true); motors->set_interlock(true);
pid_accel_z.set_dt(plane.ins.get_loop_delta_t()); pid_accel_z.set_dt(loop_delta_t);
pos_control->set_dt(plane.ins.get_loop_delta_t()); pos_control->set_dt(loop_delta_t);
// setup the trim of any motors used by AP_Motors so px4io // setup the trim of any motors used by AP_Motors so px4io
// failsafe will disable motors // failsafe will disable motors

4
ArduPlane/system.cpp
View File

@ -232,10 +232,10 @@ void Plane::init_ardupilot()
init_capabilities(); init_capabilities();
startup_ground();
quadplane.setup(); quadplane.setup();
startup_ground();
// don't initialise rc output until after quadplane is setup as // don't initialise rc output until after quadplane is setup as
// that can change initial values of channels // that can change initial values of channels
init_rc_out(); init_rc_out();