Start moving bulk amounts of init_ardupilot to base class

APMrover2/Rover.cpp

@@ -115,6 +115,16 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #endif
 };
 
+
+void Rover::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                                uint8_t &task_count,
+                                uint32_t &log_bit)
+{
+    tasks = &scheduler_tasks[0];
+    task_count = ARRAY_SIZE(scheduler_tasks);
+    log_bit = MASK_LOG_PM;
+}
+
 constexpr int8_t Rover::_failsafe_priorities[7];
 
 Rover::Rover(void) :
@@ -141,19 +151,6 @@ void Rover::stats_update(void)
 }
 #endif
 
-/*
-  setup is called when the sketch starts
- */
-void Rover::setup()
-{
-    // load the default values of variables listed in var_info[]
-    AP_Param::setup_sketch_defaults();
-
-    init_ardupilot();
-
-    // initialise the main loop scheduler
-    scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), MASK_LOG_PM);
-}
 
 /*
   loop() is called rapidly while the sketch is running

APMrover2/Rover.h

@@ -127,7 +127,6 @@ class Rover : public AP_Vehicle {
     Rover(void);
 
     // HAL::Callbacks implementation.
-    void setup(void) override;
     void loop(void) override;
 
 private:
@@ -362,7 +361,7 @@ class Rover : public AP_Vehicle {
     Mode *mode_from_mode_num(enum Mode::Number num);
 
     // Parameters.cpp
-    void load_parameters(void);
+    void load_parameters(void) override;
 
     // radio.cpp
     void set_control_channels(void);
@@ -384,8 +383,13 @@ class Rover : public AP_Vehicle {
     // Steering.cpp
     void set_servos(void);
 
+    // Rover.cpp
+    void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                             uint8_t &task_count,
+                             uint32_t &log_bit) override;
+
     // system.cpp
-    void init_ardupilot();
+    void init_ardupilot() override;
     void startup_ground(void);
     void update_ahrs_flyforward();
     bool set_mode(Mode &new_mode, ModeReason reason);

APMrover2/system.cpp

@@ -6,7 +6,6 @@ The init_ardupilot function processes everything we need for an in - air restart
 *****************************************************************************/
 
 #include "Rover.h"
-#include <AP_Common/AP_FWVersion.h>
 
 static void failsafe_check_static()
 {
@@ -15,19 +14,6 @@ static void failsafe_check_static()
 
 void Rover::init_ardupilot()
 {
-    // initialise console serial port
-    serial_manager.init_console();
-
-    hal.console->printf("\n\nInit %s"
-                        "\n\nFree RAM: %u\n",
-                        AP::fwversion().fw_string,
-                        (unsigned)hal.util->available_memory());
-
-    //
-    // Check the EEPROM format version before loading any parameters from EEPROM.
-    //
-
-    load_parameters();
 #if STATS_ENABLED == ENABLED
     // initialise stats module
     g2.stats.init();

AntennaTracker/Tracker.cpp

@@ -55,18 +55,13 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK(accel_cal_update,       10,    100)
 };
 
-/**
-  setup the sketch - called once on startup
- */
-void Tracker::setup() 
+void Tracker::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                                uint8_t &task_count,
+                                uint32_t &log_bit)
 {
-    // load the default values of variables listed in var_info[]
-    AP_Param::setup_sketch_defaults();
-
-    init_tracker();
-
-    // initialise the main loop scheduler
-    scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), (uint32_t)-1);
+    tasks = &scheduler_tasks[0];
+    task_count = ARRAY_SIZE(scheduler_tasks);
+    log_bit = (uint32_t)-1;
 }
 
 /**

AntennaTracker/Tracker.h

@@ -42,7 +42,6 @@
 #include <AP_Mission/AP_Mission.h>
 #include <AP_Stats/AP_Stats.h>                      // statistics library
 #include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
-#include <AP_Common/AP_FWVersion.h>
 
 // Configuration
 #include "config.h"
@@ -74,10 +73,7 @@ class Tracker : public AP_Vehicle {
 
     Tracker(void);
 
-    static const AP_FWVersion fwver;
-
     // HAL::Callbacks implementation.
-    void setup() override;
     void loop() override;
 
 private:
@@ -174,7 +170,10 @@ class Tracker : public AP_Vehicle {
     // true if the compass's initial location has been set
     bool compass_init_location;
 
-    // AntennaTracker.cpp
+    // Tracker.cpp
+    void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                             uint8_t &task_count,
+                             uint32_t &log_bit) override;
     void one_second_loop();
     void ten_hz_logging_loop();
     void stats_update();
@@ -190,7 +189,7 @@ class Tracker : public AP_Vehicle {
     void log_init(void);
 
     // Parameters.cpp
-    void load_parameters(void);
+    void load_parameters(void) override;
 
     // radio.cpp
     void read_radio();
@@ -215,7 +214,7 @@ class Tracker : public AP_Vehicle {
     void update_yaw_cr_servo(float yaw);
 
     // system.cpp
-    void init_tracker();
+    void init_ardupilot() override;
     bool get_home_eeprom(struct Location &loc);
     bool set_home_eeprom(const Location &temp) WARN_IF_UNUSED;
     bool set_home(const Location &temp) WARN_IF_UNUSED;

AntennaTracker/system.cpp

@@ -3,18 +3,8 @@
 // mission storage
 static const StorageAccess wp_storage(StorageManager::StorageMission);
 
-void Tracker::init_tracker()
+void Tracker::init_ardupilot()
 {
-    // initialise console serial port
-    serial_manager.init_console();
-
-    hal.console->printf("\n\nInit %s\n\nFree RAM: %u\n",
-                        AP::fwversion().fw_string,
-                        (unsigned)hal.util->available_memory());
-
-    // Check the EEPROM format version before loading any parameters from EEPROM
-    load_parameters();
-
     // initialise stats module
     stats.init();
 

ArduCopter/Copter.cpp

@@ -209,22 +209,17 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #endif
 };
 
-constexpr int8_t Copter::_failsafe_priorities[7];
-
-void Copter::setup()
+void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                                 uint8_t &task_count,
+                                 uint32_t &log_bit)
 {
-    // Load the default values of variables listed in var_info[]s
-    AP_Param::setup_sketch_defaults();
-
-    // setup storage layout for copter
-    StorageManager::set_layout_copter();
-
-    init_ardupilot();
-
-    // initialise the main loop scheduler
-    scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), MASK_LOG_PM);
+    tasks = &scheduler_tasks[0];
+    task_count = ARRAY_SIZE(scheduler_tasks);
+    log_bit = MASK_LOG_PM;
 }
 
+constexpr int8_t Copter::_failsafe_priorities[7];
+
 void Copter::loop()
 {
     scheduler.loop();

ArduCopter/Copter.h

@@ -66,7 +66,6 @@
 #include <AP_SmartRTL/AP_SmartRTL.h>
 #include <AP_TempCalibration/AP_TempCalibration.h>
 #include <AC_AutoTune/AC_AutoTune.h>
-#include <AP_Common/AP_FWVersion.h>
 #include <AP_Parachute/AP_Parachute.h>
 #include <AC_Sprayer/AC_Sprayer.h>
 
@@ -236,11 +235,9 @@ class Copter : public AP_Vehicle {
     Copter(void);
 
     // HAL::Callbacks implementation.
-    void setup() override;
     void loop() override;
 
 private:
-    static const AP_FWVersion fwver;
 
     // key aircraft parameters passed to multiple libraries
     AP_Vehicle::MultiCopter aparm;
@@ -640,7 +637,10 @@ class Copter : public AP_Vehicle {
     void set_failsafe_gcs(bool b);
     void update_using_interlock();
 
-    // ArduCopter.cpp
+    // Copter.cpp
+    void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                             uint8_t &task_count,
+                             uint32_t &log_bit) override;
     void fast_loop();
     void rc_loop();
     void throttle_loop();
@@ -816,7 +816,7 @@ class Copter : public AP_Vehicle {
     uint32_t home_distance();
 
     // Parameters.cpp
-    void load_parameters(void);
+    void load_parameters(void) override;
     void convert_pid_parameters(void);
     void convert_lgr_parameters(void);
     void convert_tradheli_parameters(void);
@@ -859,7 +859,7 @@ class Copter : public AP_Vehicle {
     void auto_trim();
 
     // system.cpp
-    void init_ardupilot();
+    void init_ardupilot() override;
     void startup_INS_ground();
     void update_dynamic_notch();
     bool position_ok() const;

ArduCopter/system.cpp

@@ -15,17 +15,6 @@ static void failsafe_check_static()
 
 void Copter::init_ardupilot()
 {
-    // initialise serial port
-    serial_manager.init_console();
-
-    hal.console->printf("\n\nInit %s"
-                        "\n\nFree RAM: %u\n",
-                        AP::fwversion().fw_string,
-                        (unsigned)hal.util->available_memory());
-
-    // load parameters from EEPROM
-    load_parameters();
-
     // time per loop - this gets updated in the main loop() based on
     // actual loop rate
     G_Dt = 1.0 / scheduler.get_loop_rate_hz();

ArduPlane/ArduPlane.cpp

@@ -112,21 +112,17 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(update_dynamic_notch,   50,    200),
 };
 
-constexpr int8_t Plane::_failsafe_priorities[7];
-
-void Plane::setup() 
+void Plane::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                                uint8_t &task_count,
+                                uint32_t &log_bit)
 {
-    // load the default values of variables listed in var_info[]
-    AP_Param::setup_sketch_defaults();
-
-    rssi.init();
-
-    init_ardupilot();
-
-    // initialise the main loop scheduler
-    scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), MASK_LOG_PM);
+    tasks = &scheduler_tasks[0];
+    task_count = ARRAY_SIZE(scheduler_tasks);
+    log_bit = MASK_LOG_PM;
 }
 
+constexpr int8_t Plane::_failsafe_priorities[7];
+
 void Plane::loop()
 {
     scheduler.loop();

ArduPlane/Plane.h

@@ -161,7 +161,6 @@ class Plane : public AP_Vehicle {
     Plane(void);
 
     // HAL::Callbacks implementation.
-    void setup() override;
     void loop() override;
 
 private:
@@ -790,7 +789,7 @@ class Plane : public AP_Vehicle {
     void Log_Write_AOA_SSA();
     void Log_Write_AETR();
 
-    void load_parameters(void);
+    void load_parameters(void) override;
     void convert_mixers(void);
     void adjust_altitude_target();
     void setup_glide_slope(void);
@@ -896,7 +895,10 @@ class Plane : public AP_Vehicle {
     void read_airspeed(void);
     void rpm_update(void);
     void efi_update(void);
-    void init_ardupilot();
+    void init_ardupilot() override;
+    void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                             uint8_t &task_count,
+                             uint32_t &log_bit) override;
     void startup_ground(void);
     bool set_mode(Mode& new_mode, const ModeReason reason);
     bool set_mode(const uint8_t mode, const ModeReason reason) override;

ArduPlane/system.cpp

@@ -1,5 +1,4 @@
 #include "Plane.h"
-#include <AP_Common/AP_FWVersion.h>
 
 /*****************************************************************************
 *   The init_ardupilot function processes everything we need for an in - air restart
@@ -15,18 +14,6 @@ static void failsafe_check_static()
 
 void Plane::init_ardupilot()
 {
-    // initialise serial port
-    serial_manager.init_console();
-
-    hal.console->printf("\n\nInit %s"
-                        "\n\nFree RAM: %u\n",
-                        AP::fwversion().fw_string,
-                        (unsigned)hal.util->available_memory());
-
-    //
-    // Check the EEPROM format version before loading any parameters from EEPROM
-    //
-    load_parameters();
 
 #if STATS_ENABLED == ENABLED
     // initialise stats module
@@ -85,6 +72,8 @@ void Plane::init_ardupilot()
     // initialise battery monitoring
     battery.init();
 
+    rssi.init();
+
     rpm_sensor.init();
 
     // setup telem slots with serial ports