ardupilot/ArduCopter/Copter.cpp

129 lines
3.9 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.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 Copter class
*/
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
Copter::Copter(void) :
flight_modes(&g.flight_mode1),
sonar_enabled(true),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)),
control_mode(STABILIZE),
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
motors(g.rc_7, MAIN_LOOP_RATE),
#else
motors(MAIN_LOOP_RATE),
#endif
scaleLongDown(1),
wp_bearing(0),
home_bearing(0),
home_distance(0),
wp_distance(0),
auto_mode(Auto_TakeOff),
guided_mode(Guided_TakeOff),
rtl_state(RTL_InitialClimb),
rtl_state_complete(false),
circle_pilot_yaw_override(false),
simple_cos_yaw(1.0f),
simple_sin_yaw(0.0f),
super_simple_last_bearing(0),
super_simple_cos_yaw(1.0),
super_simple_sin_yaw(0.0f),
initial_armed_bearing(0),
throttle_average(0.0f),
desired_climb_rate(0),
loiter_time_max(0),
loiter_time(0),
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry(ahrs, battery),
#endif
climb_rate(0),
sonar_alt(0),
sonar_alt_health(0),
target_sonar_alt(0.0f),
baro_alt(0),
baro_climbrate(0.0f),
land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),
rc_throttle_control_in_filter(1.0f),
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),
attitude_control(ahrs, aparm, motors, MAIN_LOOP_SECONDS),
pos_control(ahrs, 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),
wp_nav(inertial_nav, ahrs, pos_control, attitude_control),
circle_nav(inertial_nav, ahrs, pos_control),
pmTest1(0),
fast_loopTimer(0),
mainLoop_count(0),
rtl_loiter_start_time(0),
auto_trim_counter(0),
ServoRelayEvents(relay),
#if CAMERA == ENABLED
camera(&relay),
#endif
#if MOUNT == ENABLED
camera_mount(ahrs, current_loc),
#endif
#if AC_FENCE == ENABLED
fence(inertial_nav),
#endif
#if AC_RALLY == ENABLED
rally(ahrs),
#endif
#if SPRAYER == ENABLED
sprayer(&inertial_nav),
#endif
#if PARACHUTE == ENABLED
parachute(relay),
#endif
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
terrain(ahrs, mission, rally),
#endif
#if PRECISION_LANDING == ENABLED
precland(ahrs, inertial_nav, MAIN_LOOP_SECONDS),
#endif
#if FRAME_CONFIG == HELI_FRAME
// ToDo: Input Manager is only used by Heli for 3.3, but will be used by all frames for 3.4
input_manager(MAIN_LOOP_RATE),
#endif
in_mavlink_delay(false),
gcs_out_of_time(false),
param_loader(var_info)
{
memset(&current_loc, 0, sizeof(current_loc));
// init sensor error logging flags
sensor_health.baro = true;
sensor_health.compass = true;
}
Copter copter;