ardupilot/APMrover2/Rover.cpp

55 lines
1.7 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/>.
*/
/*
main Rover class, containing all vehicle specific state
*/
#include "Rover.h"
#include "version.h"
Rover::Rover(void) :
param_loader(var_info),
channel_steer(nullptr),
channel_throttle(nullptr),
channel_learn(nullptr),
DataFlash{FIRMWARE_STRING},
in_log_download(false),
modes(&g.mode1),
L1_controller(ahrs),
nav_controller(&L1_controller),
steerController(ahrs),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
num_gcs(MAVLINK_COMM_NUM_BUFFERS),
ServoRelayEvents(relay),
#if CAMERA == ENABLED
camera(&relay),
#endif
#if MOUNT == ENABLED
camera_mount(ahrs, current_loc),
#endif
control_mode(INITIALISING),
ground_start_count(20),
throttle(500),
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry(ahrs, battery, sonar),
#endif
home(ahrs.get_home()),
G_Dt(0.02)
{
}