mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
0c49b7a973
We should never include version.h or ap_version.h headers directly on a header since this will trigger a complete rebuild of the codebase when we commit to the repository. The ap_version.h header is auto-generated containing information from the current commit. If we include it in a header, every other file that ends up including that header (directly or indirectly) will need to be rebuilt. No ccache's cache beats having to do nothing when the header is just not included. version.h contains information that is kept on a struct inside each vehicle. Rather than using the macros from each vehicle, the getter should be preferred, which returns an AP_FWVersion referente.
53 lines
1.7 KiB
C++
53 lines
1.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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main Rover class, containing all vehicle specific state
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*/
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#include "Rover.h"
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#define FORCE_VERSION_H_INCLUDE
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#include "version.h"
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#undef FORCE_VERSION_H_INCLUDE
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Rover::Rover(void) :
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param_loader(var_info),
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channel_steer(nullptr),
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channel_throttle(nullptr),
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channel_aux(nullptr),
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DataFlash{fwver.fw_string, g.log_bitmask},
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modes(&g.mode1),
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L1_controller(ahrs, nullptr),
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nav_controller(&L1_controller),
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mission(ahrs,
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FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
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FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
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FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
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ServoRelayEvents(relay),
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#if CAMERA == ENABLED
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camera(&relay, MASK_LOG_CAMERA, current_loc, gps, ahrs),
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#endif
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#if MOUNT == ENABLED
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camera_mount(ahrs, current_loc),
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#endif
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control_mode(&mode_initializing),
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#if FRSKY_TELEM_ENABLED == ENABLED
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frsky_telemetry(ahrs, battery, rangefinder),
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#endif
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home(ahrs.get_home()),
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G_Dt(0.02f)
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{
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}
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