ardupilot/ArduSub/Sub.cpp

56 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/>.
*/
#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()
:
control_mode(Mode::Number::MANUAL),
motors(MAIN_LOOP_RATE),
auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
inertial_nav(ahrs),
ahrs_view(ahrs, ROTATION_NONE),
attitude_control(ahrs_view, aparm, motors),
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),
flightmode(&mode_manual),
auto_mode(Auto_WP),
guided_mode(Guided_WP)
{
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
failsafe.pilot_input = true;
#endif
if (_singleton != nullptr) {
AP_HAL::panic("Can only be one Sub");
}
_singleton = this;
}
Sub *Sub::_singleton = nullptr;
Sub sub;
AP_Vehicle& vehicle = sub;