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ArduPlane: fold startup_ground back into caller

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remove stale comments around same.

rename method to avoid confusion
This commit is contained in:
Peter Barker 2024-04-17 13:07:07 +10:00 committed by Peter Barker
parent 578d51574d
commit c6d5bf5706
2 changed files with 34 additions and 51 deletions
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3
ArduPlane/Plane.h
View File

@ -1085,13 +1085,12 @@ private:
// system.cpp
void init_ardupilot() override;
void startup_ground(void);
bool set_mode(Mode& new_mode, const ModeReason reason);
bool set_mode(const uint8_t mode, const ModeReason reason) override;
bool set_mode_by_number(const Mode::Number new_mode_number, const ModeReason reason);
void check_long_failsafe();
void check_short_failsafe();
void startup_INS_ground(void);
void startup_INS(void);
bool should_log(uint32_t mask);
int8_t throttle_percentage(void);
void notify_mode(const Mode& mode);

82
ArduPlane/system.cpp
View File

@ -2,13 +2,6 @@
#include "qautotune.h"
/*****************************************************************************
* The init_ardupilot function processes everything we need for an in - air restart
* We will determine later if we are actually on the ground and process a
* ground start in that case.
*
*****************************************************************************/
static void failsafe_check_static()
{
plane.failsafe_check();
@ -109,8 +102,38 @@ void Plane::init_ardupilot()
#endif
AP_Param::reload_defaults_file(true);
startup_ground();
set_mode(mode_initializing, ModeReason::INITIALISED);
#if (GROUND_START_DELAY > 0)
gcs().send_text(MAV_SEVERITY_NOTICE,"Ground start with delay");
delay(GROUND_START_DELAY * 1000);
#else
gcs().send_text(MAV_SEVERITY_INFO,"Ground start");
#endif
//INS ground start
//------------------------
//
startup_INS();
// Save the settings for in-air restart
// ------------------------------------
//save_EEPROM_groundstart();
// initialise mission library
mission.init();
// initialise AP_Logger library
#if HAL_LOGGING_ENABLED
logger.setVehicle_Startup_Writer(
FUNCTOR_BIND(&plane, &Plane::Log_Write_Vehicle_Startup_Messages, void)
);
#endif
// reset last heartbeat time, so we don't trigger failsafe on slow
// startup
gcs().sysid_myggcs_seen(AP_HAL::millis());
// don't initialise aux rc output until after quadplane is setup as
// that can change initial values of channels
@ -138,45 +161,6 @@ void Plane::init_ardupilot()
#endif
}
//********************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//********************************************************************************
void Plane::startup_ground(void)
{
set_mode(mode_initializing, ModeReason::INITIALISED);
#if (GROUND_START_DELAY > 0)
gcs().send_text(MAV_SEVERITY_NOTICE,"Ground start with delay");
delay(GROUND_START_DELAY * 1000);
#else
gcs().send_text(MAV_SEVERITY_INFO,"Ground start");
#endif
//INS ground start
//------------------------
//
startup_INS_ground();
// Save the settings for in-air restart
// ------------------------------------
//save_EEPROM_groundstart();
// initialise mission library
mission.init();
// initialise AP_Logger library
#if HAL_LOGGING_ENABLED
logger.setVehicle_Startup_Writer(
FUNCTOR_BIND(&plane, &Plane::Log_Write_Vehicle_Startup_Messages, void)
);
#endif
// reset last heartbeat time, so we don't trigger failsafe on slow
// startup
gcs().sysid_myggcs_seen(AP_HAL::millis());
}
#if AP_FENCE_ENABLED
/*
return true if a mode reason is an automatic mode change due to
@ -418,7 +402,7 @@ void Plane::check_short_failsafe()
}
void Plane::startup_INS_ground(void)
void Plane::startup_INS(void)
{
if (ins.gyro_calibration_timing() != AP_InertialSensor::GYRO_CAL_NEVER) {
gcs().send_text(MAV_SEVERITY_ALERT, "Beginning INS calibration. Do not move plane");