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Copter: load objects from storage after allocation

This commit is contained in:
Andrew Tridgell 2017-01-10 14:39:04 +11:00
parent d430cd62a6
commit bf889e01e1
1 changed files with 5 additions and 0 deletions
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5
ArduCopter/system.cpp
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@ -564,6 +564,7 @@ void Copter::allocate_motors(void)
if (motors == nullptr) {
AP_HAL::panic("Unable to allocate FRAME_CLASS=%u", (unsigned)g2.frame_class.get());
}
AP_Param::load_object_from_eeprom(motors, motors->var_info);
#if FRAME_CONFIG != HELI_FRAME
attitude_control = new AC_AttitudeControl_Multi(ahrs, aparm, *motors, MAIN_LOOP_SECONDS);
@ -573,6 +574,7 @@ void Copter::allocate_motors(void)
if (attitude_control == nullptr) {
AP_HAL::panic("Unable to allocate AttitudeControl");
}
AP_Param::load_object_from_eeprom(attitude_control, attitude_control->var_info);
pos_control = new AC_PosControl(ahrs, inertial_nav, *motors, *attitude_control,
g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
@ -580,16 +582,19 @@ void Copter::allocate_motors(void)
if (pos_control == nullptr) {
AP_HAL::panic("Unable to allocate PosControl");
}
AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info);
wp_nav = new AC_WPNav(inertial_nav, ahrs, *pos_control, *attitude_control);
if (wp_nav == nullptr) {
AP_HAL::panic("Unable to allocate WPNav");
}
AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info);
circle_nav = new AC_Circle(inertial_nav, ahrs, *pos_control);
if (wp_nav == nullptr) {
AP_HAL::panic("Unable to allocate CircleNav");
}
AP_Param::load_object_from_eeprom(circle_nav, circle_nav->var_info);
// reload lines from the defaults file that may now be accessible
AP_Param::reload_defaults_file();