mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.7 KiB
C++
54 lines
1.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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Rover::Rover(void) :
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param_loader(var_info),
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channel_steer(NULL),
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channel_throttle(NULL),
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channel_learn(NULL),
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in_log_download(false),
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modes(&g.mode1),
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L1_controller(ahrs),
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nav_controller(&L1_controller),
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steerController(ahrs),
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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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num_gcs(MAVLINK_COMM_NUM_BUFFERS),
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ServoRelayEvents(relay),
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#if CAMERA == ENABLED
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camera(&relay),
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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(INITIALISING),
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ground_start_count(20),
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throttle(500),
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#if FRSKY_TELEM_ENABLED == ENABLED
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frsky_telemetry(ahrs, battery),
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#endif
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home(ahrs.get_home()),
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G_Dt(0.02)
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{
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}
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