Rover: add constant structure holding firmware version

APMrover2/GCS_Mavlink.cpp

@@ -944,7 +944,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
         {
             // mark the firmware version in the tlog
-            send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
+            send_text(MAV_SEVERITY_INFO, fwver.fw_string);
 
 #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
             send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);

APMrover2/Rover.cpp

@@ -24,7 +24,7 @@ Rover::Rover(void) :
     channel_steer(nullptr),
     channel_throttle(nullptr),
     channel_aux(nullptr),
-    DataFlash{FIRMWARE_STRING, g.log_bitmask},
+    DataFlash{fwver.fw_string, g.log_bitmask},
     modes(&g.mode1),
     L1_controller(ahrs, nullptr),
     nav_controller(&L1_controller),

APMrover2/Rover.h

@@ -92,6 +92,7 @@
 #include "Parameters.h"
 #include "GCS_Mavlink.h"
 #include "GCS_Rover.h"
+#include "version.h"
 
 class Rover : public AP_HAL::HAL::Callbacks {
 public:
@@ -119,6 +120,18 @@ public:
 
 private:
 
+    const AP_FWVersion fwver {
+        major: FW_MAJOR,
+        minor: FW_MINOR,
+        patch: FW_PATCH,
+        fw_type: FW_TYPE,
+#ifndef GIT_VERSION
+        fw_string: THISFIRMWARE
+#else
+        fw_string: THISFIRMWARE " (" GIT_VERSION ")"
+#endif
+    };
+
     // must be the first AP_Param variable declared to ensure its
     // constructor runs before the constructors of the other AP_Param
     // variables

APMrover2/system.cpp

@@ -23,8 +23,9 @@ void Rover::init_ardupilot()
     // initialise console serial port
     serial_manager.init_console();
 
-    hal.console->printf("\n\nInit " FIRMWARE_STRING
+    hal.console->printf("\n\nInit %s"
                         "\n\nFree RAM: %u\n",
+                        fwver.fw_string,
                         hal.util->available_memory());
 
     //
@@ -79,7 +80,7 @@ void Rover::init_ardupilot()
 
     // setup frsky telemetry
 #if FRSKY_TELEM_ENABLED == ENABLED
-    frsky_telemetry.init(serial_manager, FIRMWARE_STRING, MAV_TYPE_GROUND_ROVER);
+    frsky_telemetry.init(serial_manager, fwver.fw_string, MAV_TYPE_GROUND_ROVER);
 #endif
 
 #if LOGGING_ENABLED == ENABLED

APMrover2/version.h

@@ -1,12 +1,13 @@
 #pragma once
 
-#include "ap_version.h"
+#include "AP_Common/AP_FWVersion.h"
 
 #define THISFIRMWARE "APM:Rover V3.2.0-dev"
+
+// the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 3,2,0,FIRMWARE_VERSION_TYPE_DEV
 
-#ifndef GIT_VERSION
-#define FIRMWARE_STRING THISFIRMWARE
-#else
-#define FIRMWARE_STRING THISFIRMWARE " (" GIT_VERSION ")"
-#endif
+#define FW_MAJOR 3
+#define FW_MINOR 2
+#define FW_PATCH 0
+#define FW_TYPE FIRMWARE_VERSION_TYPE_DEV