mirror of
https://github.com/ArduPilot/ardupilot
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2e464a53c2
The switching between different AP_HAL was happening by giving different definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to instantiate. A program or library code would have to explicitly include (and depend) on the concrete implementation of the HAL, even when using it only via interface. The proposed change move this dependency to be link time. There is a AP_HAL::get_HAL() function that is used by the client code. Each implementation of HAL provides its own definition of this function, returning the appropriate concrete instance. Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was removed. The static variables for PX4 and VRBRAIN were named differently to avoid shadowing the extern symbol 'hal'.
138 lines
4.6 KiB
C++
138 lines
4.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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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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constructor for main Copter class
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*/
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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Copter::Copter(void) :
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ins_sample_rate(AP_InertialSensor::RATE_400HZ),
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flight_modes(&g.flight_mode1),
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sonar_enabled(true),
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mission(ahrs,
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FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)),
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control_mode(STABILIZE),
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#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
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motors(g.rc_7, g.heli_servo_rsc, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE),
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#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
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motors(MAIN_LOOP_RATE),
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#elif FRAME_CONFIG == SINGLE_FRAME // single constructor requires extra servos for flaps
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motors(g.single_servo_1, g.single_servo_2, g.single_servo_3, g.single_servo_4, MAIN_LOOP_RATE),
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#elif FRAME_CONFIG == COAX_FRAME // single constructor requires extra servos for flaps
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motors(g.single_servo_1, g.single_servo_2, MAIN_LOOP_RATE),
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#else
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motors(MAIN_LOOP_RATE),
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#endif
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scaleLongDown(1),
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wp_bearing(0),
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home_bearing(0),
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home_distance(0),
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wp_distance(0),
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auto_mode(Auto_TakeOff),
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guided_mode(Guided_TakeOff),
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rtl_state(RTL_InitialClimb),
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rtl_state_complete(false),
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rtl_alt(0.0f),
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circle_pilot_yaw_override(false),
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simple_cos_yaw(1.0f),
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simple_sin_yaw(0.0f),
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super_simple_last_bearing(0),
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super_simple_cos_yaw(1.0),
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super_simple_sin_yaw(0.0f),
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initial_armed_bearing(0),
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throttle_average(0.0f),
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desired_climb_rate(0),
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loiter_time_max(0),
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loiter_time(0),
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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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climb_rate(0),
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sonar_alt(0),
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sonar_alt_health(0),
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target_sonar_alt(0.0f),
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baro_alt(0),
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baro_climbrate(0.0f),
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land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),
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auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
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yaw_look_at_WP_bearing(0.0f),
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yaw_look_at_heading(0),
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yaw_look_at_heading_slew(0),
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yaw_look_ahead_bearing(0.0f),
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condition_value(0),
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condition_start(0),
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G_Dt(0.0025f),
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inertial_nav(ahrs),
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#if FRAME_CONFIG == HELI_FRAME
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attitude_control(ahrs, aparm, motors, g.p_stabilize_roll, g.p_stabilize_pitch, g.p_stabilize_yaw,
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g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw),
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#else
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attitude_control(ahrs, aparm, motors, g.p_stabilize_roll, g.p_stabilize_pitch, g.p_stabilize_yaw,
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g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw),
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#endif
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pos_control(ahrs, inertial_nav, motors, attitude_control,
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g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
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g.p_pos_xy, g.pi_vel_xy),
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wp_nav(inertial_nav, ahrs, pos_control, attitude_control),
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circle_nav(inertial_nav, ahrs, pos_control),
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pmTest1(0),
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fast_loopTimer(0),
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mainLoop_count(0),
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rtl_loiter_start_time(0),
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auto_trim_counter(0),
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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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#if AC_FENCE == ENABLED
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fence(inertial_nav),
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#endif
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#if AC_RALLY == ENABLED
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rally(ahrs),
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#endif
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#if SPRAYER == ENABLED
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sprayer(&inertial_nav),
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#endif
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#if PARACHUTE == ENABLED
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parachute(relay),
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#endif
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#if AP_TERRAIN_AVAILABLE
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terrain(ahrs, mission, rally),
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#endif
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#if PRECISION_LANDING == ENABLED
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precland(ahrs, inertial_nav, g.pi_precland, MAIN_LOOP_SECONDS),
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#endif
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in_mavlink_delay(false),
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gcs_out_of_time(false),
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param_loader(var_info)
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{
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memset(¤t_loc, 0, sizeof(current_loc));
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// init sensor error logging flags
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sensor_health.baro = true;
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sensor_health.compass = true;
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}
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Copter copter;
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