diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde index f091215690c663e55e878676e803dcfb9bb61264..62364fcd2d14c86e4c7feac2752cbc99c1bf7d95 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 e8f4fad4cd835d0b61edf3fc823d2936381a97f4..f88a0aa256384bbed91b1c3c84c6265462d37e95 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 0b14af889a71f39337b8d6985db264dd1a76e17b..988cf6cd0580a1304655c177bc0a0167c0a8ed26 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 93ad2a0f12cc999f0e8c34baefd3589769fe7225..d1710a33676f68f0bf39a6ea1ddc67ef92f1be3b 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