Copter: added OpenDroneID support

ArduCopter/Copter.cpp

@@ -207,6 +207,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if OSD_ENABLED == ENABLED
     SCHED_TASK(publish_osd_info, 1, 10),
 #endif
+#if AP_OPENDRONEID_ENABLED
+    SCHED_TASK_CLASS(AP_OpenDroneID, &copter.g2.opendroneid,  update,                   10,  50),
+#endif
 };
 
 constexpr int8_t Copter::_failsafe_priorities[7];

ArduCopter/Copter.h

@@ -67,6 +67,7 @@
 #include <AP_TempCalibration/AP_TempCalibration.h>
 #include <AC_AutoTune/AC_AutoTune.h>
 #include <AP_Common/AP_FWVersion.h>
+#include <AP_OpenDroneID/AP_OpenDroneID.h>
 
 // Configuration
 #include "defines.h"

ArduCopter/Parameters.cpp

@@ -961,7 +961,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(arot, "AROT_", 37, ParametersG2, AC_Autorotation),
 #endif
 
-
+#if AP_OPENDRONEID_ENABLED
+    // @Group: DID_
+    // @Path: ../libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
+    AP_SUBGROUPINFO(opendroneid, "DID_", 60, ParametersG2, AP_OpenDroneID),
+#endif
 
     AP_GROUPEND
 };

ArduCopter/Parameters.h

@@ -620,6 +620,10 @@ public:
     // Autonmous autorotation
     AC_Autorotation arot;
 #endif
+
+#if AP_OPENDRONEID_ENABLED
+    AP_OpenDroneID opendroneid;
+#endif
 };
 
 extern const AP_Param::Info        var_info[];

ArduCopter/system.cpp

@@ -257,6 +257,10 @@ void Copter::init_ardupilot()
     // disable safety if requested
     BoardConfig.init_safety();
 
+#if AP_OPENDRONEID_ENABLED
+    g2.opendroneid.init();
+#endif
+   
     vehicle_setup();
 
     hal.console->printf("\nReady to FLY ");