From 89c99ce1455db2434e2d58da6b7a27faf2ccda3f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 20 Jan 2014 12:57:59 +1100
Subject: [PATCH] Rover: enable AP_BoardConfig
---
APMrover2/APMrover2.pde | 4 ++++
APMrover2/Parameters.h | 1 +
APMrover2/Parameters.pde | 4 ++++
APMrover2/system.pde | 2 ++
4 files changed, 11 insertions(+)
diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index f09121569..62364fcd2 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -92,6 +92,7 @@
#include <AP_Navigation.h>
#include <APM_Control.h>
#include <AP_L1_Control.h>
+#include <AP_BoardConfig.h>
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
@@ -143,6 +144,9 @@ static AP_Scheduler scheduler;
// mapping between input channels
static RCMapper rcmap;
+// board specific config
+static AP_BoardConfig BoardConfig;
+
// primary control channels
static RC_Channel *channel_steer;
static RC_Channel *channel_throttle;
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index e8f4fad4c..f88a0aa25 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -34,6 +34,7 @@ public:
k_param_initial_mode,
k_param_scheduler,
k_param_relay,
+ k_param_BoardConfig,
// IO pins
k_param_rssi_pin = 20,
diff --git a/APMrover2/Parameters.pde b/APMrover2/Parameters.pde
index 0b14af889..988cf6cd0 100644
--- a/APMrover2/Parameters.pde
+++ b/APMrover2/Parameters.pde
@@ -482,6 +482,10 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT_", AP_BattMonitor),
+ // @Group: BRD_
+ // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
+ GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
+
AP_VAREND
};
diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index 93ad2a0f1..d1710a336 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -104,6 +104,8 @@ static void init_ardupilot()
load_parameters();
+ BoardConfig.init();
+
set_control_channels();
// after parameter load setup correct baud rate on uartA
--
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