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https://github.com/ArduPilot/ardupilot
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Tracker: move setup method up to AP_Vehicle base class
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0728514f74
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@ -55,18 +55,13 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
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SCHED_TASK(accel_cal_update, 10, 100)
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SCHED_TASK(accel_cal_update, 10, 100)
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};
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};
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/**
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void Tracker::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
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setup the sketch - called once on startup
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uint8_t &task_count,
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*/
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uint32_t &log_bit)
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void Tracker::setup()
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{
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{
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// load the default values of variables listed in var_info[]
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tasks = &scheduler_tasks[0];
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AP_Param::setup_sketch_defaults();
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task_count = ARRAY_SIZE(scheduler_tasks);
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log_bit = (uint32_t)-1;
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init_tracker();
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// initialise the main loop scheduler
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scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), (uint32_t)-1);
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}
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}
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/**
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/**
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@ -77,7 +77,6 @@ public:
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static const AP_FWVersion fwver;
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static const AP_FWVersion fwver;
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// HAL::Callbacks implementation.
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// HAL::Callbacks implementation.
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void setup() override;
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void loop() override;
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void loop() override;
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private:
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private:
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@ -174,7 +173,10 @@ private:
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// true if the compass's initial location has been set
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// true if the compass's initial location has been set
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bool compass_init_location;
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bool compass_init_location;
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// AntennaTracker.cpp
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// Tracker.cpp
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void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
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uint8_t &task_count,
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uint32_t &log_bit) override;
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void one_second_loop();
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void one_second_loop();
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void ten_hz_logging_loop();
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void ten_hz_logging_loop();
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void stats_update();
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void stats_update();
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@ -215,7 +217,7 @@ private:
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void update_yaw_cr_servo(float yaw);
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void update_yaw_cr_servo(float yaw);
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// system.cpp
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// system.cpp
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void init_tracker();
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void init_ardupilot() override;
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bool get_home_eeprom(struct Location &loc);
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bool get_home_eeprom(struct Location &loc);
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bool set_home_eeprom(const Location &temp) WARN_IF_UNUSED;
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bool set_home_eeprom(const Location &temp) WARN_IF_UNUSED;
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bool set_home(const Location &temp) WARN_IF_UNUSED;
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bool set_home(const Location &temp) WARN_IF_UNUSED;
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@ -3,7 +3,7 @@
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// mission storage
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// mission storage
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static const StorageAccess wp_storage(StorageManager::StorageMission);
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static const StorageAccess wp_storage(StorageManager::StorageMission);
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void Tracker::init_tracker()
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void Tracker::init_ardupilot()
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{
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{
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// initialise console serial port
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// initialise console serial port
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serial_manager.init_console();
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serial_manager.init_console();
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