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Plane: create generic vehicle management and move runcam to it

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Andy Piper 2019-12-01 17:02:40 +00:00 committed by Andrew Tridgell
parent 7f6c7fc370
commit eca398e7a2
4 changed files with 11 additions and 1 deletions
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4
ArduPlane/Parameters.cpp
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@ -1094,6 +1094,10 @@ const AP_Param::Info Plane::var_info[] = {
// @Path: mode_takeoff.cpp // @Path: mode_takeoff.cpp
GOBJECT(mode_takeoff, "TKOFF_", ModeTakeoff), GOBJECT(mode_takeoff, "TKOFF_", ModeTakeoff),
// @Group:
// @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
{ AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&plane, {group_info : AP_Vehicle::var_info} },
AP_VAREND AP_VAREND
}; };

4
ArduPlane/Parameters.h
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@ -345,6 +345,8 @@ public:
k_param_logger = 253, // Logging Group k_param_logger = 253, // Logging Group
// 254,255: reserved // 254,255: reserved
k_param_vehicle = 257, // vehicle common block of parameters
}; };
AP_Int16 format_version; AP_Int16 format_version;
@ -568,7 +570,7 @@ public:
#if EFI_ENABLED #if EFI_ENABLED
// EFI Engine Monitor // EFI Engine Monitor
AP_EFI efi; AP_EFI efi;
#endif #endif
}; };
extern const AP_Param::Info var_info[]; extern const AP_Param::Info var_info[];

1
ArduPlane/Plane.cpp
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@ -31,3 +31,4 @@ Plane::Plane(void)
} }
Plane plane; Plane plane;
AP_Vehicle& vehicle = plane;

3
ArduPlane/system.cpp
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@ -137,6 +137,9 @@ void Plane::init_ardupilot()
camera_mount.init(); camera_mount.init();
#endif #endif
// run all the vehicle initialization routines
init_vehicle();
#if LANDING_GEAR_ENABLED == ENABLED #if LANDING_GEAR_ENABLED == ENABLED
// initialise landing gear position // initialise landing gear position
g2.landing_gear.init(); g2.landing_gear.init();