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Copter: move sensor init from setup(to init_ardupilot

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This fixes a bug in which the external led was not being disabled if the
EPM was enabled (they share pins).  The cause of the problem was the EPM
was being initialised before it's parameters had been loaded
This commit is contained in:
Randy Mackay 2013-12-19 14:12:19 +09:00
parent cb17a5bdb6
commit d362bb45fd
2 changed files with 34 additions and 34 deletions
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32
ArduCopter/ArduCopter.pde
View File

@ -909,8 +909,6 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
void setup() {
bool enable_external_leds = true;
// this needs to be the first call, as it fills memory with
// sentinel values
memcheck_init();
@ -919,36 +917,6 @@ void setup() {
// Load the default values of variables listed in var_info[]s
AP_Param::setup_sketch_defaults();
// init EPM cargo gripper
#if EPM_ENABLED == ENABLED
epm.init();
enable_external_leds = !epm.enabled();
#endif
// initialise notify system
// disable external leds if epm is enabled because of pin conflict on the APM
notify.init(enable_external_leds);
// initialise battery monitor
battery.init();
#if CONFIG_SONAR == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
sonar_analog_source = new AP_ADC_AnalogSource(
&adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
sonar_analog_source = hal.analogin->channel(
CONFIG_SONAR_SOURCE_ANALOG_PIN);
#else
#warning "Invalid CONFIG_SONAR_SOURCE"
#endif
sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
&sonar_mode_filter);
#endif
rssi_analog_source = hal.analogin->channel(g.rssi_pin);
board_vcc_analog_source = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
init_ardupilot();
// initialise the main loop scheduler

36
ArduCopter/system.pde
View File

@ -120,11 +120,43 @@ static void init_ardupilot()
//
report_version();
relay.init();
// load parameters from EEPROM
load_parameters();
relay.init();
bool enable_external_leds = true;
// init EPM cargo gripper
#if EPM_ENABLED == ENABLED
epm.init();
enable_external_leds = !epm.enabled();
#endif
// initialise notify system
// disable external leds if epm is enabled because of pin conflict on the APM
notify.init(enable_external_leds);
// initialise battery monitor
battery.init();
#if CONFIG_SONAR == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
sonar_analog_source = new AP_ADC_AnalogSource(
&adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
sonar_analog_source = hal.analogin->channel(
CONFIG_SONAR_SOURCE_ANALOG_PIN);
#else
#warning "Invalid CONFIG_SONAR_SOURCE"
#endif
sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
&sonar_mode_filter);
#endif
rssi_analog_source = hal.analogin->channel(g.rssi_pin);
board_vcc_analog_source = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
#if HIL_MODE != HIL_MODE_ATTITUDE
barometer.init();
#endif