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global: use static method to construct AP_Mission

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This also move the initialization to be in the header for those that
weren't already to maintain consistency.
This commit is contained in:
Lucas De Marchi 2017-08-28 14:31:45 -07:00 committed by Francisco Ferreira
parent ef50783268
commit b36a5919f5
8 changed files with 16 additions and 19 deletions
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4
APMrover2/Rover.cpp
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@ -31,10 +31,6 @@ Rover::Rover(void) :
modes(&g.mode1), modes(&g.mode1),
L1_controller(ahrs, nullptr), L1_controller(ahrs, nullptr),
nav_controller(&L1_controller), nav_controller(&L1_controller),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
ServoRelayEvents(relay), ServoRelayEvents(relay),
#if CAMERA == ENABLED #if CAMERA == ENABLED
camera(&relay, MASK_LOG_CAMERA, current_loc, gps, ahrs), camera(&relay, MASK_LOG_CAMERA, current_loc, gps, ahrs),

5
APMrover2/Rover.h
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@ -179,7 +179,10 @@ private:
AP_Navigation *nav_controller; AP_Navigation *nav_controller;
// Mission library // Mission library
AP_Mission mission; AP_Mission mission = AP_Mission::create(ahrs,
FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void));
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
OpticalFlow optflow{ahrs}; OpticalFlow optflow{ahrs};

4
ArduCopter/Copter.cpp
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@ -26,10 +26,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
Copter::Copter(void) Copter::Copter(void)
: DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)), : DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)),
flight_modes(&g.flight_mode1), flight_modes(&g.flight_mode1),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)),
control_mode(STABILIZE), control_mode(STABILIZE),
scaleLongDown(1), scaleLongDown(1),
wp_bearing(0), wp_bearing(0),

5
ArduCopter/Copter.h
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@ -223,7 +223,10 @@ private:
#endif #endif
// Mission library // Mission library
AP_Mission mission; AP_Mission mission = AP_Mission::create(ahrs,
FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void));
// Arming/Disarming mangement class // Arming/Disarming mangement class
AP_Arming_Copter arming {ahrs, barometer, compass, battery, inertial_nav, ins}; AP_Arming_Copter arming {ahrs, barometer, compass, battery, inertial_nav, ins};

4
ArduPlane/Plane.h
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@ -599,10 +599,10 @@ private:
float smoothed_airspeed; float smoothed_airspeed;
// Mission library // Mission library
AP_Mission mission {ahrs, AP_Mission mission = AP_Mission::create(ahrs,
FUNCTOR_BIND_MEMBER(&Plane::start_command_callback, bool, const AP_Mission::Mission_Command &), FUNCTOR_BIND_MEMBER(&Plane::start_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Plane::verify_command_callback, bool, const AP_Mission::Mission_Command &), FUNCTOR_BIND_MEMBER(&Plane::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)}; FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void));
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED

4
ArduSub/Sub.cpp
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@ -25,10 +25,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
*/ */
Sub::Sub(void) Sub::Sub(void)
: DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)), : DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)),
control_mode(MANUAL), control_mode(MANUAL),
motors(MAIN_LOOP_RATE), motors(MAIN_LOOP_RATE),
scaleLongDown(1), scaleLongDown(1),

5
ArduSub/Sub.h
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@ -193,7 +193,10 @@ private:
#endif #endif
// Mission library // Mission library
AP_Mission mission; AP_Mission mission = AP_Mission::create(ahrs,
FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void));
// Optical flow sensor // Optical flow sensor
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED

4
libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
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@ -44,10 +44,10 @@ private:
void run_replace_cmd_test(); void run_replace_cmd_test();
void run_max_cmd_test(); void run_max_cmd_test();
AP_Mission mission{ahrs, AP_Mission mission = AP_Mission::create(ahrs,
FUNCTOR_BIND_MEMBER(&MissionTest::start_cmd, bool, const AP_Mission::Mission_Command &), FUNCTOR_BIND_MEMBER(&MissionTest::start_cmd, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&MissionTest::verify_cmd, bool, const AP_Mission::Mission_Command &), FUNCTOR_BIND_MEMBER(&MissionTest::verify_cmd, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&MissionTest::mission_complete, void)}; FUNCTOR_BIND_MEMBER(&MissionTest::mission_complete, void));
}; };
static MissionTest missiontest; static MissionTest missiontest;