mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.8 KiB
C++
55 lines
1.8 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"
|
|
|
|
#define FORCE_VERSION_H_INCLUDE
|
|
#include "version.h"
|
|
#undef FORCE_VERSION_H_INCLUDE
|
|
|
|
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
|
|
|
|
/*
|
|
constructor for main Sub class
|
|
*/
|
|
Sub::Sub()
|
|
: logger(g.log_bitmask),
|
|
control_mode(MANUAL),
|
|
motors(MAIN_LOOP_RATE),
|
|
scaleLongDown(1),
|
|
auto_mode(Auto_WP),
|
|
guided_mode(Guided_WP),
|
|
auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
|
|
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),
|
|
wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
|
|
loiter_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
|
|
circle_nav(inertial_nav, ahrs_view, pos_control),
|
|
param_loader(var_info)
|
|
{
|
|
// init sensor error logging flags
|
|
sensor_health.baro = true;
|
|
sensor_health.compass = true;
|
|
|
|
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
|
|
failsafe.pilot_input = true;
|
|
#endif
|
|
}
|
|
|
|
Sub sub;
|
|
AP_Vehicle& vehicle = sub;
|