mirror of https://github.com/ArduPilot/ardupilot
Plane: move many members up to base class
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
e965e8f11e
commit
8fa3b28032
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@ -33,9 +33,6 @@
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <StorageManager/StorageManager.h>
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#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
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#include <AP_Baro/AP_Baro.h> // ArduPilot barometer library
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#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor Library
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#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
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@ -43,7 +40,6 @@
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#include <SRV_Channel/SRV_Channel.h>
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#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
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#include <Filter/Filter.h> // Filter library
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#include <AP_Relay/AP_Relay.h> // APM relay
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#include <AP_Camera/AP_Camera.h> // Photo or video camera
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_Terrain/AP_Terrain.h>
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@ -55,7 +51,6 @@
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#include <APM_Control/APM_Control.h>
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#include <APM_Control/AP_AutoTune.h>
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#include <GCS_MAVLink/GCS_MAVLink.h> // MAVLink GCS definitions
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#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
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#include <AP_Mount/AP_Mount.h> // Camera/Antenna mount
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#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
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#include <AP_Logger/AP_Logger.h>
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@ -74,23 +69,17 @@
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#include <AP_Mission/AP_Mission.h> // Mission command library
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#include <AP_Soaring/AP_Soaring.h>
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
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#include <AP_Arming/AP_Arming.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
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#include <AP_Frsky_Telem/AP_Frsky_Telem.h>
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#include <AP_OSD/AP_OSD.h>
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
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#include <AP_Rally/AP_Rally.h>
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#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
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#include <AP_RSSI/AP_RSSI.h> // RSSI Library
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#include <AP_Parachute/AP_Parachute.h>
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#include <AP_ADSB/AP_ADSB.h>
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#include <AP_Button/AP_Button.h>
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#include <AP_ICEngine/AP_ICEngine.h>
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#include <AP_Gripper/AP_Gripper.h>
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#include <AP_Landing/AP_Landing.h>
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@ -189,42 +178,21 @@ private:
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// mapping between input channels
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RCMapper rcmap;
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// board specific config
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AP_BoardConfig BoardConfig;
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// board specific config for CAN bus
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#if HAL_WITH_UAVCAN
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AP_BoardConfig_CAN BoardConfig_CAN;
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#endif
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// primary input channels
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RC_Channel *channel_roll;
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RC_Channel *channel_pitch;
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RC_Channel *channel_throttle;
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RC_Channel *channel_rudder;
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// notification object for LEDs, buzzers etc (parameter set to false disables external leds)
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AP_Notify notify;
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AP_Logger logger;
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// scaled roll limit based on pitch
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int32_t roll_limit_cd;
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int32_t pitch_limit_min_cd;
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// Sensors
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AP_GPS gps;
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// flight modes convenience array
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AP_Int8 *flight_modes = &g.flight_mode1;
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AP_Baro barometer;
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Compass compass;
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AP_InertialSensor ins;
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RangeFinder rangefinder;
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AP_Vehicle::FixedWing::Rangefinder_State rangefinder_state;
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AP_RPM rpm_sensor;
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@ -272,8 +240,6 @@ private:
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// external failsafe boards during baro and airspeed calibration
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bool in_calibration;
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AP_SerialManager serial_manager;
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// GCS selection
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GCS_Plane _gcs; // avoid using this; use gcs()
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GCS_Plane &gcs() { return _gcs; }
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@ -284,12 +250,6 @@ private:
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// selected navigation controller
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AP_SpdHgtControl *SpdHgt_Controller = &TECS_controller;
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// Relay
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AP_Relay relay;
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// handle servo and relay events
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AP_ServoRelayEvents ServoRelayEvents;
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// Camera
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#if CAMERA == ENABLED
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AP_Camera camera{MASK_LOG_CAMERA, current_loc};
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@ -303,9 +263,6 @@ private:
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// Rally Ponints
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AP_Rally rally;
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// RSSI
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AP_RSSI rssi;
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#if OSD_ENABLED == ENABLED
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AP_OSD osd;
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#endif
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@ -1100,7 +1057,6 @@ public:
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void failsafe_check(void);
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};
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extern const AP_HAL::HAL& hal;
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extern Plane plane;
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using AP_HAL::millis;
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