removed depdency of main.cpp on the specific board

rosflight · Jun 26, 2024 · e1597f8 · e1597f8
1 parent 258f003
commit e1597f8
Showing 1 changed file with 8 additions and 16 deletions.
diff --git a/src/main.cpp b/src/main.cpp
@@ -38,13 +38,10 @@
 #include <mavlink.h>
 #include <rosflight.h>
 
-// Select which board implementation to include based on cmake variable
-#ifdef BUILD_VARMINT_BOARD
-#include <Varmint.h>
-extern Varmint varmint;
-#endif
 #ifndef BUILD_TEST_BOARD // Skip main function for gtest
 
+extern rosflight_firmware::Board &board;
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -59,19 +56,14 @@ int main(void);
  */
 int main(void)
 {
-  // Select which board implementation to instantiate based on cmake variable
-#ifdef BUILD_VARMINT_BOARD
-  rosflight_firmware::Board * board = &varmint;
-#endif
-
-  // Rosflight base code
-  board->init_board();
-  rosflight_firmware::Mavlink mavlink(*board);
-  rosflight_firmware::ROSflight firmware(*board, mavlink);
+    // Rosflight base code
+    board.init_board();
+    rosflight_firmware::Mavlink mavlink(board);
+    rosflight_firmware::ROSflight firmware(board, mavlink);
 
-  firmware.init();
+    firmware.init();
 
-  while (true) { firmware.run(); }
+    while (true) { firmware.run(); }
 }
 
 #endif // BUILD_TEST_BOARD