diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index a5b98acc8c6a014340d6a79a98d852803d14d58a..a9611839c4a3051df46c5fa04fee4b6ae7c6b0cf 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -128,6 +128,7 @@ #include <AP_RCMapper.h> // RC input mapping library #include <AP_Notify.h> // Notify library #include <AP_BattMonitor.h> // Battery monitor library +#include <AP_BoardConfig.h> // board configuration library #if SPRAYER == ENABLED #include <AC_Sprayer.h> // crop sprayer library #endif @@ -423,6 +424,9 @@ static int8_t control_mode = STABILIZE; static uint8_t oldSwitchPosition; static RCMapper rcmap; +// board specific config +static AP_BoardConfig BoardConfig; + // receiver RSSI static uint8_t receiver_rssi; diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index 11ce74ca7c8cc41027a55621917390b231dcfb92..237ad7431e3bb58bea5e3a780d0df392c3c3074b 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -70,6 +70,9 @@ public: // EPM object k_param_epm, + // BoardConfig object + k_param_BoardConfig, + // Misc // k_param_log_bitmask = 20, diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde index cc33151c6df5d82221e916b807fb9a33f37a0076..c2b64f759883847ee67854e09be4755fe0e02de5 100644 --- a/ArduCopter/Parameters.pde +++ b/ArduCopter/Parameters.pde @@ -1049,6 +1049,10 @@ 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), + #if SPRAYER == ENABLED // @Group: SPRAYER_ // @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde index 534d083b532eb5f2374e4ade083f436390be615d..9a1685c7ce5c0013003cfd4001bc7def92d78831 100644 --- a/ArduCopter/system.pde +++ b/ArduCopter/system.pde @@ -123,6 +123,8 @@ static void init_ardupilot() // load parameters from EEPROM load_parameters(); + BoardConfig.init(); + relay.init(); bool enable_external_leds = true;