ardupilot/APMrover2/Rover.cpp

40 lines
1.2 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
main Rover class, containing all vehicle specific state
*/
#include "Rover.h"
#define FORCE_VERSION_H_INCLUDE
#include "version.h"
#undef FORCE_VERSION_H_INCLUDE
Rover::Rover(void) :
param_loader(var_info),
channel_steer(nullptr),
channel_throttle(nullptr),
channel_aux(nullptr),
channel_lateral(nullptr),
DataFlash{fwver.fw_string, g.log_bitmask},
modes(&g.mode1),
nav_controller(&L1_controller),
control_mode(&mode_initializing),
home(ahrs.get_home()),
G_Dt(0.02f),
mode_auto(mode_rtl)
{
}