int ActualScheddQ::get_Capabilities(ClassAd & caps) {
int rval = init_capabilities();
if (rval == 0) {
caps.Update(capabilities);
}
return rval;
}
void Copter::init_ardupilot()
{
if (!hal.gpio->usb_connected()) {
// USB is not connected, this means UART0 may be a Xbee, with
// its darned bricking problem. We can't write to it for at
// least one second after powering up. Simplest solution for
// now is to delay for 1 second. Something more elegant may be
// added later
delay(1000);
}
// initialise serial port
serial_manager.init_console();
// init vehicle capabilties
init_capabilities();
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());
//
// Report firmware version code expect on console (check of actual EEPROM format version is done in load_parameters function)
//
report_version();
// load parameters from EEPROM
load_parameters();
BoardConfig.init();
// initialise serial port
serial_manager.init();
// init EPM cargo gripper
#if EPM_ENABLED == ENABLED
epm.init();
#endif
// initialise notify system
// disable external leds if epm is enabled because of pin conflict on the APM
notify.init(true);
// initialise battery monitor
battery.init();
// Init RSSI
rssi.init();
barometer.init();
// Register the mavlink service callback. This will run
// anytime there are more than 5ms remaining in a call to
// hal.scheduler->delay.
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
ap.usb_connected = true;
check_usb_mux();
// init the GCS connected to the console
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
// init telemetry port
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
// setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
// setup serial port for fourth telemetry port (not used by default)
gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
#if FRSKY_TELEM_ENABLED == ENABLED
// setup frsky
frsky_telemetry.init(serial_manager);
#endif
// identify ourselves correctly with the ground station
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
GCS_MAVLINK::set_dataflash(&DataFlash);
// update motor interlock state
update_using_interlock();
#if FRAME_CONFIG == HELI_FRAME
// trad heli specific initialisation
heli_init();
#endif
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up motors and output to escs
// initialise which outputs Servo and Relay events can use
ServoRelayEvents.set_channel_mask(~motors.get_motor_mask());
relay.init();
/*
* setup the 'main loop is dead' check. Note that this relies on
* the RC library being initialised.
*/
hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
// Do GPS init
gps.init(&DataFlash, serial_manager);
if(g.compass_enabled)
init_compass();
#if OPTFLOW == ENABLED
// make optflow available to AHRS
ahrs.set_optflow(&optflow);
#endif
// init Location class
Location_Class::set_ahrs(&ahrs);
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
Location_Class::set_terrain(&terrain);
wp_nav.set_terrain(&terrain);
#endif
pos_control.set_dt(MAIN_LOOP_SECONDS);
// init the optical flow sensor
init_optflow();
#if MOUNT == ENABLED
// initialise camera mount
camera_mount.init(&DataFlash, serial_manager);
#endif
#if PRECISION_LANDING == ENABLED
// initialise precision landing
init_precland();
#endif
#ifdef USERHOOK_INIT
USERHOOK_INIT
#endif
#if CLI_ENABLED == ENABLED
if (g.cli_enabled) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println(msg);
}
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
gcs[2].get_uart()->println(msg);
}
}
#endif // CLI_ENABLED
#if HIL_MODE != HIL_MODE_DISABLED
while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first
// HIL_STATE message
gcs_send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
delay(1000);
}
// set INS to HIL mode
ins.set_hil_mode();
#endif
// read Baro pressure at ground
//-----------------------------
init_barometer(true);
// initialise sonar
#if CONFIG_SONAR == ENABLED
init_sonar();
#endif
// initialise AP_RPM library
rpm_sensor.init();
// initialise mission library
mission.init();
// initialise the flight mode and aux switch
// ---------------------------
reset_control_switch();
init_aux_switches();
startup_INS_ground();
// set landed flags
set_land_complete(true);
set_land_complete_maybe(true);
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we are
// ready to fly
serial_manager.set_blocking_writes_all(false);
// enable CPU failsafe
failsafe_enable();
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash);
cliSerial->print("\nReady to FLY ");
// flag that initialisation has completed
ap.initialised = true;
}
void Plane::init_ardupilot()
{
// initialise serial port
serial_manager.init_console();
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());
//
// Check the EEPROM format version before loading any parameters from EEPROM
//
load_parameters();
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// set sensors to HIL mode
ins.set_hil_mode();
compass.set_hil_mode();
barometer.set_hil_mode();
}
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// this must be before BoardConfig.init() so if
// BRD_SAFETYENABLE==0 then we don't have safety off yet
for (uint8_t tries=0; tries<10; tries++) {
if (setup_failsafe_mixing()) {
break;
}
hal.scheduler->delay(10);
}
#endif
BoardConfig.init();
// initialise serial ports
serial_manager.init();
GCS_MAVLINK::set_dataflash(&DataFlash);
// allow servo set on all channels except first 4
ServoRelayEvents.set_channel_mask(0xFFF0);
set_control_channels();
// keep a record of how many resets have happened. This can be
// used to detect in-flight resets
g.num_resets.set_and_save(g.num_resets+1);
// init baro before we start the GCS, so that the CLI baro test works
barometer.init();
// initialise rangefinder
init_rangefinder();
// initialise battery monitoring
battery.init();
rpm_sensor.init();
// init the GCS
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true;
check_usb_mux();
// setup all other telem slots with serial ports
for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, (i - 1));
}
// setup frsky
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.init(serial_manager);
#endif
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
// initialise airspeed sensor
airspeed.init();
if (g.compass_enabled==true) {
bool compass_ok = compass.init() && compass.read();
#if HIL_SUPPORT
if (!is_zero(g.hil_mode)) {
compass_ok = true;
}
#endif
if (!compass_ok) {
cliSerial->println("Compass initialisation failed!");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
}
}
#if OPTFLOW == ENABLED
// make optflow available to libraries
ahrs.set_optflow(&optflow);
#endif
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// give AHRS the airspeed sensor
ahrs.set_airspeed(&airspeed);
// GPS Initialization
gps.init(&DataFlash, serial_manager);
init_rc_in(); // sets up rc channels from radio
relay.init();
#if MOUNT == ENABLED
// initialise camera mount
camera_mount.init(&DataFlash, serial_manager);
#endif
#if FENCE_TRIGGERED_PIN > 0
hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
hal.gpio->write(FENCE_TRIGGERED_PIN, 0);
#endif
/*
* setup the 'main loop is dead' check. Note that this relies on
* the RC library being initialised.
*/
hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
#if CLI_ENABLED == ENABLED
if (g.cli_enabled == 1) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println(msg);
}
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
gcs[2].get_uart()->println(msg);
}
}
#endif // CLI_ENABLED
init_capabilities();
quadplane.setup();
startup_ground();
// don't initialise rc output until after quadplane is setup as
// that can change initial values of channels
init_rc_out();
// choose the nav controller
set_nav_controller();
set_mode((FlightMode)g.initial_mode.get());
// set the correct flight mode
// ---------------------------
reset_control_switch();
// initialise sensor
#if OPTFLOW == ENABLED
optflow.init();
#endif
}
void Rover::init_ardupilot()
{
// initialise console serial port
serial_manager.init_console();
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
hal.util->available_memory());
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//
load_parameters();
BoardConfig.init();
// initialise serial ports
serial_manager.init();
ServoRelayEvents.set_channel_mask(0xFFF0);
set_control_channels();
battery.init();
// keep a record of how many resets have happened. This can be
// used to detect in-flight resets
g.num_resets.set_and_save(g.num_resets+1);
// init baro before we start the GCS, so that the CLI baro test works
barometer.init();
// init the GCS
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true;
check_usb_mux();
// setup serial port for telem1
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
// setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
// setup serial port for fourth telemetry port (not used by default)
gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
// setup frsky telemetry
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.init(serial_manager);
#endif
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
if (g.compass_enabled==true) {
if (!compass.init()|| !compass.read()) {
cliSerial->println("Compass initialisation failed!");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
//compass.get_offsets(); // load offsets to account for airframe magnetic interference
}
}
// initialise sonar
init_sonar();
// and baro for EKF
init_barometer();
// Do GPS init
gps.init(&DataFlash, serial_manager);
rc_override_active = hal.rcin->set_overrides(rc_override, 8);
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
relay.init();
#if MOUNT == ENABLED
// initialise camera mount
camera_mount.init(serial_manager);
#endif
/*
setup the 'main loop is dead' check. Note that this relies on
the RC library being initialised.
*/
hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
#if CLI_ENABLED == ENABLED
// If the switch is in 'menu' mode, run the main menu.
//
// Since we can't be sure that the setup or test mode won't leave
// the system in an odd state, we don't let the user exit the top
// menu; they must reset in order to fly.
//
if (g.cli_enabled == 1) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println(msg);
}
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
gcs[2].get_uart()->println(msg);
}
}
#endif
init_capabilities();
startup_ground();
set_mode((enum mode)g.initial_mode.get());
// set the correct flight mode
// ---------------------------
reset_control_switch();
}
void Tracker::init_tracker()
{
// initialise console serial port
serial_manager.init_console();
hal.console->printf("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %u\n",
hal.util->available_memory());
// Check the EEPROM format version before loading any parameters from EEPROM
load_parameters();
BoardConfig.init();
// initialise serial ports
serial_manager.init();
// init baro before we start the GCS, so that the CLI baro test works
barometer.init();
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true;
check_usb_mux();
// setup telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
gcs[i].set_snoop(mavlink_snoop_static);
}
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
GCS_MAVLINK::set_dataflash(&DataFlash);
if (g.compass_enabled==true) {
if (!compass.init() || !compass.read()) {
hal.console->println("Compass initialisation failed!");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
}
}
// GPS Initialization
gps.init(NULL, serial_manager);
ahrs.init();
ahrs.set_fly_forward(false);
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
init_barometer(true);
// set serial ports non-blocking
serial_manager.set_blocking_writes_all(false);
// initialise servos
init_servos();
// use given start positions - useful for indoor testing, and
// while waiting for GPS lock
// sanity check location
if (fabsf(g.start_latitude) <= 90.0f && fabsf(g.start_longitude) <= 180.0f) {
current_loc.lat = g.start_latitude * 1.0e7f;
current_loc.lng = g.start_longitude * 1.0e7f;
gcs_send_text(MAV_SEVERITY_NOTICE, "Ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
}
// see if EEPROM has a default location as well
if (current_loc.lat == 0 && current_loc.lng == 0) {
get_home_eeprom(current_loc);
}
init_capabilities();
gcs_send_text(MAV_SEVERITY_INFO,"Ready to track");
hal.scheduler->delay(1000); // Why????
set_mode(AUTO); // tracking
if (g.startup_delay > 0) {
// arm servos with trim value to allow them to start up (required
// for some servos)
prepare_servos();
}
}
int main(int argc, char **argv)
{
int sock;
uid_t own_u;
gid_t own_g;
char *rpath = NULL;
char *sock_name = NULL;
struct stat stbuf;
int c, option_index;
#ifdef FS_IOC_GETVERSION
int retval;
struct statfs st_fs;
#endif
prog_name = g_path_get_basename(argv[0]);
is_daemon = true;
sock = -1;
own_u = own_g = -1;
while (1) {
option_index = 0;
c = getopt_long(argc, argv, "p:nh?f:s:u:g:", helper_opts,
&option_index);
if (c == -1) {
break;
}
switch (c) {
case 'p':
rpath = g_strdup(optarg);
break;
case 'n':
is_daemon = false;
break;
case 'f':
sock = atoi(optarg);
break;
case 's':
sock_name = g_strdup(optarg);
break;
case 'u':
own_u = atoi(optarg);
break;
case 'g':
own_g = atoi(optarg);
break;
case '?':
case 'h':
default:
usage();
exit(EXIT_FAILURE);
}
}
/* Parameter validation */
if ((sock_name == NULL && sock == -1) || rpath == NULL) {
fprintf(stderr, "socket, socket descriptor or path not specified\n");
usage();
return -1;
}
if (sock_name && sock != -1) {
fprintf(stderr, "both named socket and socket descriptor specified\n");
usage();
exit(EXIT_FAILURE);
}
if (sock_name && (own_u == -1 || own_g == -1)) {
fprintf(stderr, "owner uid:gid not specified, ");
fprintf(stderr,
"owner uid:gid specifies who can access the socket file\n");
usage();
exit(EXIT_FAILURE);
}
if (lstat(rpath, &stbuf) < 0) {
fprintf(stderr, "invalid path \"%s\" specified, %s\n",
rpath, strerror(errno));
exit(EXIT_FAILURE);
}
if (!S_ISDIR(stbuf.st_mode)) {
fprintf(stderr, "specified path \"%s\" is not directory\n", rpath);
exit(EXIT_FAILURE);
}
if (is_daemon) {
if (daemon(0, 0) < 0) {
fprintf(stderr, "daemon call failed\n");
exit(EXIT_FAILURE);
}
openlog(PROGNAME, LOG_PID, LOG_DAEMON);
}
do_log(LOG_INFO, "Started\n");
if (sock_name) {
sock = proxy_socket(sock_name, own_u, own_g);
if (sock < 0) {
goto error;
}
}
if (chroot(rpath) < 0) {
do_perror("chroot");
goto error;
}
if (chdir("/") < 0) {
do_perror("chdir");
goto error;
}
get_version = false;
#ifdef FS_IOC_GETVERSION
/* check whether underlying FS support IOC_GETVERSION */
retval = statfs("/", &st_fs);
if (!retval) {
switch (st_fs.f_type) {
case EXT2_SUPER_MAGIC:
case BTRFS_SUPER_MAGIC:
case REISERFS_SUPER_MAGIC:
case XFS_SUPER_MAGIC:
get_version = true;
break;
}
}
#endif
umask(0);
if (init_capabilities() < 0) {
goto error;
}
process_requests(sock);
error:
g_free(rpath);
g_free(sock_name);
do_log(LOG_INFO, "Done\n");
closelog();
return 0;
}
void Sub::init_ardupilot()
{
if (!hal.gpio->usb_connected()) {
// USB is not connected, this means UART0 may be a Xbee, with
// its darned bricking problem. We can't write to it for at
// least one second after powering up. Simplest solution for
// now is to delay for 1 second. Something more elegant may be
// added later
hal.scheduler->delay(1000);
}
// initialise serial port
serial_manager.init_console();
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());
//
// Report firmware version code expect on console (check of actual EEPROM format version is done in load_parameters function)
//
report_version();
// load parameters from EEPROM
load_parameters();
BoardConfig.init();
// initialise serial port
serial_manager.init();
// init cargo gripper
#if GRIPPER_ENABLED == ENABLED
g2.gripper.init();
#endif
// initialise notify system
notify.init(true);
// initialise battery monitor
battery.init();
barometer.init();
celsius.init();
// Register the mavlink service callback. This will run
// anytime there are more than 5ms remaining in a call to
// hal.scheduler->delay.
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
ap.usb_connected = true;
check_usb_mux();
// setup telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
}
// identify ourselves correctly with the ground station
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
gcs().set_dataflash(&DataFlash);
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up motors and output to escs
init_joystick(); // joystick initialization
// initialise which outputs Servo and Relay events can use
ServoRelayEvents.set_channel_mask(~motors.get_motor_mask());
relay.init();
/*
* setup the 'main loop is dead' check. Note that this relies on
* the RC library being initialised.
*/
hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
// Do GPS init
gps.init(&DataFlash, serial_manager);
if (g.compass_enabled) {
init_compass();
}
#if OPTFLOW == ENABLED
// make optflow available to AHRS
ahrs.set_optflow(&optflow);
#endif
// init Location class
Location_Class::set_ahrs(&ahrs);
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
Location_Class::set_terrain(&terrain);
wp_nav.set_terrain(&terrain);
#endif
#if AVOIDANCE_ENABLED == ENABLED
wp_nav.set_avoidance(&avoid);
#endif
pos_control.set_dt(MAIN_LOOP_SECONDS);
// init the optical flow sensor
init_optflow();
#if MOUNT == ENABLED
// initialise camera mount
camera_mount.init(&DataFlash, serial_manager);
#endif
#ifdef USERHOOK_INIT
USERHOOK_INIT
#endif
#if CLI_ENABLED == ENABLED
if (g.cli_enabled) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg);
if (gcs_chan[1].initialised && (gcs_chan[1].get_uart() != NULL)) {
gcs_chan[1].get_uart()->println(msg);
}
if (num_gcs > 2 && gcs_chan[2].initialised && (gcs_chan[2].get_uart() != NULL)) {
gcs_chan[2].get_uart()->println(msg);
}
}
#endif // CLI_ENABLED
#if HIL_MODE != HIL_MODE_DISABLED
while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first
// HIL_STATE message
gcs_send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
hal.scheduler->delay(1000);
}
// set INS to HIL mode
ins.set_hil_mode();
#endif
// read Baro pressure at ground
//-----------------------------
init_barometer(false);
barometer.update();
for (uint8_t i = 0; i < barometer.num_instances(); i++) {
if (barometer.get_type(i) == AP_Baro::BARO_TYPE_WATER && barometer.healthy(i)) {
barometer.set_primary_baro(i);
ap.depth_sensor_present = true;
break;
}
}
if (!ap.depth_sensor_present) {
// We only have onboard baro
// No external underwater depth sensor detected
barometer.set_primary_baro(0);
EKF2.set_baro_alt_noise(10.0f); // Readings won't correspond with rest of INS
EKF3.set_baro_alt_noise(10.0f);
} else {
EKF2.set_baro_alt_noise(0.1f);
EKF3.set_baro_alt_noise(0.1f);
}
leak_detector.init();
// backwards compatibility
if (attitude_control.get_accel_yaw_max() < 110000.0f) {
attitude_control.save_accel_yaw_max(110000.0f);
}
last_pilot_heading = ahrs.yaw_sensor;
// initialise rangefinder
#if RANGEFINDER_ENABLED == ENABLED
init_rangefinder();
#endif
// initialise AP_RPM library
#if RPM_ENABLED == ENABLED
rpm_sensor.init();
#endif
// initialise mission library
mission.init();
startup_INS_ground();
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we are
// ready to fly
serial_manager.set_blocking_writes_all(false);
// enable CPU failsafe
failsafe_enable();
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash);
// init vehicle capabilties
init_capabilities();
cliSerial->print("\nReady to FLY ");
// flag that initialisation has completed
ap.initialised = true;
}
bool ActualScheddQ::allows_late_materialize() {
init_capabilities();
return allows_late;
}