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Move init_vehicle call into AP_Vehicle #13596

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merged 2 commits into from Feb 25, 2020
Merged

Move init_vehicle call into AP_Vehicle #13596

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e5b5e66
AP_BoardConfig: fold init_vehicle back into AP_Vehicle init method
peterbarker Feb 18, 2020
a6e6821
AP_Vehicle: fold init_vehicle back into AP_Vehicle init method
peterbarker Feb 18, 2020
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6 changes: 0 additions & 6 deletions libraries/AP_BoardConfig/AP_BoardConfig.cpp
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Expand Up @@ -322,12 +322,6 @@ void AP_BoardConfig::init()
printf("SDCard failed to start\n");
}
#endif

// run any the vehicle initialization routines
AP_Vehicle *vehicle = AP::vehicle();
if (vehicle) {
vehicle->init_vehicle();
}
}

// set default value for BRD_SAFETY_MASK
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22 changes: 6 additions & 16 deletions libraries/AP_Vehicle/AP_Vehicle.cpp
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Expand Up @@ -64,6 +64,12 @@ void AP_Vehicle::setup()
#if HAL_GYROFFT_ENABLED
gyro_fft.init(AP::scheduler().get_loop_period_us());
#endif
#if HAL_RUNCAM_ENABLED
runcam.init();
#endif
#if HAL_HOTT_TELEM_ENABLED
hott_telem.init();
#endif
}

void AP_Vehicle::loop()
Expand Down Expand Up @@ -93,22 +99,6 @@ void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, ui
num_tasks = ARRAY_SIZE(scheduler_tasks);
}

// initialize the vehicle
void AP_Vehicle::init_vehicle()
{
if (init_done) {
return;
}
init_done = true;
#if HAL_RUNCAM_ENABLED
runcam.init();
#endif
#if HAL_HOTT_TELEM_ENABLED
hott_telem.init();
#endif
}


/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow
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5 changes: 0 additions & 5 deletions libraries/AP_Vehicle/AP_Vehicle.h
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Expand Up @@ -127,10 +127,6 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
};

void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks);

// initialize the vehicle. Called from AP_BoardConfig
void init_vehicle();

virtual void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) = 0;

/*
Expand Down Expand Up @@ -232,7 +228,6 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
private:

static AP_Vehicle *_singleton;
bool init_done;

static void scheduler_delay_callback();

Expand Down