Rover::Rover(void) :
param_loader(var_info),
channel_steer(nullptr),
channel_throttle(nullptr),
channel_learn(nullptr),
DataFlash{FIRMWARE_STRING, g.log_bitmask},
modes(&g.mode1),
L1_controller(ahrs, nullptr),
nav_controller(&L1_controller),
steerController(ahrs),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
ServoRelayEvents(relay),
#if CAMERA == ENABLED
camera(&relay),
#endif
#if MOUNT == ENABLED
camera_mount(ahrs, current_loc),
#endif
control_mode(INITIALISING),
throttle(500),
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry(ahrs, battery, rangefinder),
#endif
do_auto_rotation(false),
home(ahrs.get_home()),
G_Dt(0.02f)
{
}
Rover::Rover(void) :
param_loader(var_info),
channel_steer(nullptr),
channel_throttle(nullptr),
channel_learn(nullptr),
DataFlash{FIRMWARE_STRING},
in_log_download(false),
modes(&g.mode1),
L1_controller(ahrs),
nav_controller(&L1_controller),
steerController(ahrs),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
num_gcs(MAVLINK_COMM_NUM_BUFFERS),
ServoRelayEvents(relay),
#if CAMERA == ENABLED
camera(&relay),
#endif
#if MOUNT == ENABLED
camera_mount(ahrs, current_loc),
#endif
control_mode(INITIALISING),
ground_start_count(20),
throttle(500),
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry(ahrs, battery, sonar),
#endif
home(ahrs.get_home()),
G_Dt(0.02)
{
}