ardupilot/ArduSub/Sub.cpp

98 lines
3.2 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/>.
*/
#include "Sub.h"
#include "version.h"
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
/*
constructor for main Sub class
*/
Sub::Sub(void) :
DataFlash {FIRMWARE_STRING, g.log_bitmask},
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Sub::start_command, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Sub::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)),
control_mode(MANUAL),
motors(MAIN_LOOP_RATE),
scaleLongDown(1),
auto_mode(Auto_WP),
guided_mode(Guided_WP),
circle_pilot_yaw_override(false),
initial_armed_bearing(0),
desired_climb_rate(0),
loiter_time_max(0),
loiter_time(0),
climb_rate(0),
target_rangefinder_alt(0.0f),
auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
yaw_look_at_WP_bearing(0.0f),
yaw_look_at_heading(0),
yaw_look_at_heading_slew(0),
yaw_look_ahead_bearing(0.0f),
condition_value(0),
condition_start(0),
G_Dt(MAIN_LOOP_SECONDS),
inertial_nav(ahrs),
ahrs_view(ahrs, ROTATION_NONE),
attitude_control(ahrs_view, aparm, motors, MAIN_LOOP_SECONDS),
pos_control(ahrs_view, inertial_nav, motors, attitude_control,
g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
g.p_pos_xy, g.pi_vel_xy),
#if AVOIDANCE_ENABLED == ENABLED
avoid(ahrs, inertial_nav, fence, g2.proximity),
#endif
wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
circle_nav(inertial_nav, ahrs_view, pos_control),
pmTest1(0),
fast_loopTimer(0),
mainLoop_count(0),
ServoRelayEvents(relay),
#if CAMERA == ENABLED
camera(&relay),
#endif
#if MOUNT == ENABLED
camera_mount(ahrs, current_loc),
#endif
#if AC_FENCE == ENABLED
fence(ahrs, inertial_nav),
#endif
#if AC_RALLY == ENABLED
rally(ahrs),
#endif
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
terrain(ahrs, mission, rally),
#endif
in_mavlink_delay(false),
gcs_out_of_time(false),
param_loader(var_info),
last_pilot_yaw_input_ms(0)
{
memset(&current_loc, 0, sizeof(current_loc));
// init sensor error logging flags
sensor_health.baro = true;
sensor_health.compass = true;
failsafe.last_heartbeat_ms = 0;
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
failsafe.pilot_input = true;
#endif
}
Sub sub;