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AP_Vehicle: add support for Networking

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This commit is contained in:
Tom Pittenger 2023-07-06 10:46:18 -07:00 committed by Andrew Tridgell
parent 3bd1b3f7ed
commit 169a7b1c73
2 changed files with 18 additions and 0 deletions
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13
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -202,6 +202,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
#endif // APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_Rover)
#if AP_NETWORKING_ENABLED
// @Group: NET_
// @Path: ../AP_Networking/AP_Networking.cpp
AP_SUBGROUPINFO(networking, "NET_", 21, AP_Vehicle, AP_Networking),
#endif
AP_GROUPEND
};
@ -267,6 +273,10 @@ void AP_Vehicle::setup()
// which may get used very early on.
gcs().init();
#if AP_NETWORKING_ENABLED
networking.init();
#endif
// initialise serial ports
serial_manager.init();
gcs().setup_console();
@ -485,6 +495,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
#if AP_OPENDRONEID_ENABLED
SCHED_TASK_CLASS(AP_OpenDroneID, &vehicle.opendroneid, update, 10, 50, 236),
#endif
#if AP_NETWORKING_ENABLED
SCHED_TASK_CLASS(AP_Networking, &vehicle.networking, update, 1000, 50, 238),
#endif
#if OSD_ENABLED
SCHED_TASK(publish_osd_info, 1, 10, 240),
#endif

5
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -44,6 +44,7 @@
#include <AP_Hott_Telem/AP_Hott_Telem.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include <AP_GyroFFT/AP_GyroFFT.h>
#include <AP_Networking/AP_Networking.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_VideoTX/AP_VideoTX.h>
#include <AP_MSP/AP_MSP.h>
@ -359,6 +360,10 @@ protected:
AP_Tramp tramp;
#endif
#if AP_NETWORKING_ENABLED
AP_Networking networking;
#endif
#if HAL_EFI_ENABLED
// EFI Engine Monitor
AP_EFI efi;