From 1b7c49b66261cd0d6ad3f1f7ddcfff4551677dcc Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 19 Dec 2019 22:59:06 +0000
Subject: [PATCH] Tracker: create generic vehicle management and move runcam to
 it

add RCMapper and OSD to build
---
 AntennaTracker/Parameters.cpp | 4 ++++
 AntennaTracker/Parameters.h   | 4 +++-
 AntennaTracker/Tracker.cpp    | 1 +
 AntennaTracker/system.cpp     | 3 +++
 AntennaTracker/wscript        | 2 ++
 5 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index f9127b36cd..79cece8e82 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -413,6 +413,10 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Path: ../libraries/AP_Stats/AP_Stats.cpp
     GOBJECT(stats, "STAT",  AP_Stats),
 
+    // @Group:
+    // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
+    { AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&tracker, {group_info : AP_Vehicle::var_info} },
+
     AP_VAREND
 };
 
diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
index 7f448f735d..e8c11bb2e1 100644
--- a/AntennaTracker/Parameters.h
+++ b/AntennaTracker/Parameters.h
@@ -122,7 +122,9 @@ public:
         k_param_scan_speed_yaw,
         k_param_scan_speed_pitch,
         k_param_initial_mode,
-        k_param_disarm_pwm
+        k_param_disarm_pwm,
+
+        k_param_vehicle = 257, // vehicle common block of parameters
     };
 
     AP_Int16 format_version;
diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
index 69eb400793..ae5acb4a8f 100644
--- a/AntennaTracker/Tracker.cpp
+++ b/AntennaTracker/Tracker.cpp
@@ -176,5 +176,6 @@ Tracker::Tracker(void)
 }
 
 Tracker tracker;
+AP_Vehicle& vehicle = tracker;
 
 AP_HAL_MAIN_CALLBACKS(&tracker);
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index bc61411caa..803d69d8b4 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -88,6 +88,9 @@ void Tracker::init_tracker()
     // initialise rc channels including setting mode
     rc().init();
 
+    // run all the vehicle initialization routines
+    init_vehicle();
+
     // initialise servos
     init_servos();
 
diff --git a/AntennaTracker/wscript b/AntennaTracker/wscript
index 7a59052dd8..14484890a8 100644
--- a/AntennaTracker/wscript
+++ b/AntennaTracker/wscript
@@ -10,6 +10,8 @@ def build(bld):
             'AP_Beacon',
             'AP_Arming',
             'AP_Stats',
+            'AP_RCMapper',
+            'AP_OSD',
         ],
     )