Tracker: create generic vehicle management and move runcam to it

add RCMapper and OSD to build

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
 };
 

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;

AntennaTracker/Tracker.cpp

@@ -176,5 +176,6 @@ Tracker::Tracker(void)
 }
 
 Tracker tracker;
+AP_Vehicle& vehicle = tracker;
 
 AP_HAL_MAIN_CALLBACKS(&tracker);

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();
 

AntennaTracker/wscript

@@ -10,6 +10,8 @@ def build(bld):
             'AP_Beacon',
             'AP_Arming',
             'AP_Stats',
+            'AP_RCMapper',
+            'AP_OSD',
         ],
     )