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Plane: changed startup order

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this allows BoardConfig to report errors in a way that allows for
BRD_TYPE to be changed by the user
This commit is contained in:
Andrew Tridgell 2016-08-03 17:17:38 +10:00
parent ba7d0d6cd8
commit 82382a7e9c
1 changed files with 9 additions and 7 deletions
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16
ArduPlane/system.cpp
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@ -113,12 +113,18 @@ void Plane::init_ardupilot()
} }
#endif #endif
BoardConfig.init(); GCS_MAVLINK::set_dataflash(&DataFlash);
// initialise serial ports // initialise serial ports
serial_manager.init(); serial_manager.init();
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
GCS_MAVLINK::set_dataflash(&DataFlash); // Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// setup any board specific drivers
BoardConfig.init();
// allow servo set on all channels except first 4 // allow servo set on all channels except first 4
ServoRelayEvents.set_channel_mask(0xFFF0); ServoRelayEvents.set_channel_mask(0xFFF0);
@ -144,7 +150,7 @@ void Plane::init_ardupilot()
check_usb_mux(); check_usb_mux();
// setup telem slots with serial ports // setup telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) { for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i); gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
} }
@ -184,10 +190,6 @@ void Plane::init_ardupilot()
} }
#endif #endif
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// give AHRS the airspeed sensor // give AHRS the airspeed sensor
ahrs.set_airspeed(&airspeed); ahrs.set_airspeed(&airspeed);