mirror of https://github.com/ArduPilot/ardupilot
APMrover2: move of CAN parameters into separate group
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@ -470,6 +470,12 @@ const AP_Param::Info Rover::var_info[] = {
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// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
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// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
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GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
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GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
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#if HAL_WITH_UAVCAN
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// @Group: CAN_
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// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
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GOBJECT(BoardConfig_CAN, "CAN_", AP_BoardConfig_CAN),
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#endif
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// GPS driver
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// GPS driver
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// @Group: GPS_
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// @Group: GPS_
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// @Path: ../libraries/AP_GPS/AP_GPS.cpp
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// @Path: ../libraries/AP_GPS/AP_GPS.cpp
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@ -22,6 +22,7 @@ public:
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//
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//
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k_param_format_version = 0,
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k_param_format_version = 0,
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k_param_software_type,
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k_param_software_type,
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k_param_BoardConfig_CAN,
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// Misc
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// Misc
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//
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//
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@ -61,6 +61,7 @@
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#include <APM_Control/APM_Control.h>
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#include <APM_Control/APM_Control.h>
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#include <AP_L1_Control/AP_L1_Control.h>
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#include <AP_L1_Control/AP_L1_Control.h>
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#include <AP_BoardConfig/AP_BoardConfig.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_Frsky_Telem/AP_Frsky_Telem.h>
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#include "AP_Arming.h"
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#include "AP_Arming.h"
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@ -129,6 +130,11 @@ private:
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// board specific config
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// board specific config
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AP_BoardConfig BoardConfig;
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AP_BoardConfig BoardConfig;
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#if HAL_WITH_UAVCAN
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// board specific config for CAN bus
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AP_BoardConfig_CAN BoardConfig_CAN;
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#endif
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// primary control channels
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// primary control channels
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RC_Channel *channel_steer;
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RC_Channel *channel_steer;
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RC_Channel *channel_throttle;
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RC_Channel *channel_throttle;
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@ -107,6 +107,9 @@ void Rover::init_ardupilot()
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hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
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hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
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BoardConfig.init();
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BoardConfig.init();
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#if HAL_WITH_UAVCAN
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BoardConfig_CAN.init();
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#endif
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// initialise notify system
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// initialise notify system
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notify.init(false);
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notify.init(false);
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