Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: changed startup order 

this allows BoardConfig to report errors in a way that allows for
BRD_TYPE to be changed by the user
This commit is contained in:
Andrew Tridgell 2016-08-03 17:17:31 +10:00
parent 80bad445b8
commit ba7d0d6cd8
1 changed files with 12 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
ArduCopter/system.cpp
View File

@ -110,11 +110,20 @@ void Copter::init_ardupilot()
// load parameters from EEPROM
load_parameters();
BoardConfig.init();
GCS_MAVLINK::set_dataflash(&DataFlash);
// initialise serial port
// initialise serial ports
serial_manager.init();
// setup first port early to allow BoardConfig to report errors
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
BoardConfig.init();
// init EPM cargo gripper
#if EPM_ENABLED == ENABLED
epm.init();
@ -132,18 +141,13 @@ void Copter::init_ardupilot()
barometer.init();
// Register the mavlink service callback. This will run
// anytime there are more than 5ms remaining in a call to
// hal.scheduler->delay.
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
ap.usb_connected = true;
check_usb_mux();
// setup telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
}
@ -159,8 +163,6 @@ void Copter::init_ardupilot()
log_init();
#endif
GCS_MAVLINK::set_dataflash(&DataFlash);
// update motor interlock state
update_using_interlock();