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Rover: add constant structure holding firmware version

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This commit is contained in:
Peter Barker 2017-08-19 20:04:56 +10:00 committed by Francisco Ferreira
parent 0177e959c9
commit d98c427514
5 changed files with 25 additions and 10 deletions
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2
APMrover2/GCS_Mavlink.cpp
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@ -944,7 +944,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{ {
// mark the firmware version in the tlog // 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) #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION); send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);

2
APMrover2/Rover.cpp
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@ -24,7 +24,7 @@ Rover::Rover(void) :
channel_steer(nullptr), channel_steer(nullptr),
channel_throttle(nullptr), channel_throttle(nullptr),
channel_aux(nullptr), channel_aux(nullptr),
DataFlash{FIRMWARE_STRING, g.log_bitmask}, DataFlash{fwver.fw_string, g.log_bitmask},
modes(&g.mode1), modes(&g.mode1),
L1_controller(ahrs, nullptr), L1_controller(ahrs, nullptr),
nav_controller(&L1_controller), nav_controller(&L1_controller),

13
APMrover2/Rover.h
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@ -92,6 +92,7 @@
#include "Parameters.h" #include "Parameters.h"
#include "GCS_Mavlink.h" #include "GCS_Mavlink.h"
#include "GCS_Rover.h" #include "GCS_Rover.h"
#include "version.h"
class Rover : public AP_HAL::HAL::Callbacks { class Rover : public AP_HAL::HAL::Callbacks {
public: public:
@ -119,6 +120,18 @@ public:
private: 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 // must be the first AP_Param variable declared to ensure its
// constructor runs before the constructors of the other AP_Param // constructor runs before the constructors of the other AP_Param
// variables // variables

5
APMrover2/system.cpp
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@ -23,8 +23,9 @@ void Rover::init_ardupilot()
// initialise console serial port // initialise console serial port
serial_manager.init_console(); serial_manager.init_console();
hal.console->printf("\n\nInit " FIRMWARE_STRING hal.console->printf("\n\nInit %s"
"\n\nFree RAM: %u\n", "\n\nFree RAM: %u\n",
fwver.fw_string,
hal.util->available_memory()); hal.util->available_memory());
// //
@ -79,7 +80,7 @@ void Rover::init_ardupilot()
// setup frsky telemetry // setup frsky telemetry
#if FRSKY_TELEM_ENABLED == ENABLED #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 #endif
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED

13
APMrover2/version.h
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@ -1,12 +1,13 @@
#pragma once #pragma once
#include "ap_version.h" #include "AP_Common/AP_FWVersion.h"
#define THISFIRMWARE "APM:Rover V3.2.0-dev" #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 #define FIRMWARE_VERSION 3,2,0,FIRMWARE_VERSION_TYPE_DEV
#ifndef GIT_VERSION #define FW_MAJOR 3
#define FIRMWARE_STRING THISFIRMWARE #define FW_MINOR 2
#else #define FW_PATCH 0
#define FIRMWARE_STRING THISFIRMWARE " (" GIT_VERSION ")" #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
#endif