ardupilot/ArduPlane/Plane.cpp

94 lines
2.9 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Plane.h"
/*
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/>.
*/
/*
constructor for main Plane class
*/
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
Plane::Plane(void) :
ins_sample_rate(AP_InertialSensor::RATE_50HZ),
#if defined(HAL_BOARD_LOG_DIRECTORY)
DataFlash(HAL_BOARD_LOG_DIRECTORY),
#endif
flight_modes(&g.flight_mode1),
#if AP_AHRS_NAVEKF_AVAILABLE
ahrs(ins, barometer, gps, rangefinder),
#else
ahrs(ins, barometer, gps),
#endif
L1_controller(ahrs),
TECS_controller(ahrs, aparm),
rollController(ahrs, aparm, DataFlash),
pitchController(ahrs, aparm, DataFlash),
yawController(ahrs, aparm),
steerController(ahrs),
num_gcs(MAVLINK_COMM_NUM_BUFFERS),
nav_controller(&L1_controller),
SpdHgt_Controller(&TECS_controller),
ServoRelayEvents(relay),
#if CAMERA == ENABLED
camera(&relay),
#endif
rally(ahrs),
control_mode(INITIALISING),
previous_mode(INITIALISING),
oldSwitchPosition(254),
ground_start_count(5),
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry(ahrs, battery),
#endif
airspeed(aparm),
flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL),
aerodynamic_load_factor(1.0f),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Plane::start_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Plane::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)),
#if AP_TERRAIN_AVAILABLE
terrain(ahrs, mission, rally),
#endif
#if OBC_FAILSAFE == ENABLED
obc(mission, barometer, gps, rcmap),
#endif
home(ahrs.get_home()),
G_Dt(0.02f),
#if MOUNT == ENABLED
camera_mount(ahrs, current_loc),
#endif
arming(ahrs, barometer, compass, home_is_set, FUNCTOR_BIND_MEMBER(&Plane::gcs_send_text_P, void, gcs_severity, const prog_char_t *)),
param_loader(var_info)
{
elevon.trim1 = 1500;
elevon.trim2 = 1500;
elevon.ch1_temp = 1500;
elevon.ch2_temp = 1500;
steer_state.hold_course_cd = -1;
steer_state.locked_course = false;
steer_state.locked_course_err = 0;
auto_state.takeoff_complete = true;
auto_state.next_wp_no_crosstrack = true;
auto_state.no_crosstrack = true;
auto_state.next_turn_angle = 90.0f;
}
Plane plane;