mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.9 KiB
C++
66 lines
1.9 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "Copter.h"
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#define FORCE_VERSION_H_INCLUDE
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#include "version.h"
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#undef FORCE_VERSION_H_INCLUDE
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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/*
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constructor for main Copter class
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*/
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Copter::Copter(void)
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: DataFlash(fwver.fw_string, g.log_bitmask),
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flight_modes(&g.flight_mode1),
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control_mode(STABILIZE),
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scaleLongDown(1),
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simple_cos_yaw(1.0f),
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simple_sin_yaw(0.0f),
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super_simple_last_bearing(0),
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super_simple_cos_yaw(1.0),
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super_simple_sin_yaw(0.0f),
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initial_armed_bearing(0),
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climb_rate(0),
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target_rangefinder_alt(0.0f),
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baro_alt(0),
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baro_climbrate(0.0f),
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land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),
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rc_throttle_control_in_filter(1.0f),
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auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
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yaw_look_at_WP_bearing(0.0f),
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yaw_look_at_heading(0),
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yaw_look_at_heading_slew(0),
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yaw_look_ahead_bearing(0.0f),
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G_Dt(MAIN_LOOP_SECONDS),
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inertial_nav(ahrs),
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pmTest1(0),
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fast_loopTimer(0),
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mainLoop_count(0),
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auto_trim_counter(0),
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in_mavlink_delay(false),
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param_loader(var_info),
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flightmode(&mode_stabilize)
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{
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memset(¤t_loc, 0, sizeof(current_loc));
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// init sensor error logging flags
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sensor_health.baro = true;
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sensor_health.compass = true;
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}
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Copter copter;
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