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- #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();
- Sub::Sub()
- : logger(g.log_bitmask),
- control_mode(MANUAL),
- motors(MAIN_LOOP_RATE),
- scaleLongDown(1),
- auto_mode(Auto_WP),
- guided_mode(Guided_WP),
- auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
- G_Dt(MAIN_LOOP_SECONDS),
- inertial_nav(ahrs),
- ahrs_view(ahrs, ROTATION_NONE),
- attitude_control(ahrs_view, aparm, motors, MAIN_LOOP_SECONDS),
- 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),
- trackpid(7.0,0.02,0.0,7.0,0.02,0.0),
- param_loader(var_info)
- {
-
- sensor_health.baro = true;
- sensor_health.compass = true;
- #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
- failsafe.pilot_input = true;
- #endif
- }
- Sub sub;
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