AP_Vehicle: add support for Networking

libraries/AP_Vehicle/AP_Vehicle.cpp

@@ -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

libraries/AP_Vehicle/AP_Vehicle.h

@@ -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;