APMrover2: devo telemetry support (RX705/707)

APMrover2/Rover.h

@@ -40,6 +40,7 @@
 #include <AP_Compass/AP_Compass.h>                  // ArduPilot Mega Magnetometer Library
 #include <AP_Declination/AP_Declination.h>          // Compass declination library
 #include <AP_Frsky_Telem/AP_Frsky_Telem.h>
+#include <AP_Devo_Telem/AP_Devo_Telem.h>
 #include <AP_GPS/AP_GPS.h>                          // ArduPilot GPS library
 #include <AP_InertialSensor/AP_InertialSensor.h>    // Inertial Sensor (uncalibated IMU) Library
 #include <AP_L1_Control/AP_L1_Control.h>
@@ -296,6 +297,9 @@ private:
     // FrSky telemetry support
     AP_Frsky_Telem frsky_telemetry{ahrs, battery, rangefinder};
 #endif
+#if DEVO_TELEM_ENABLED == ENABLED
+    AP_DEVO_Telem devo_telemetry{ahrs};
+#endif
 
     uint32_t control_sensors_present;
     uint32_t control_sensors_enabled;

APMrover2/config.h

@@ -177,3 +177,11 @@
 #ifndef STATS_ENABLED
  # define STATS_ENABLED ENABLED
 #endif
+
+#ifndef DEVO_TELEM_ENABLED
+#if HAL_MINIMIZE_FEATURES
+ #define DEVO_TELEM_ENABLED DISABLED
+#else
+ #define DEVO_TELEM_ENABLED ENABLED
+#endif
+#endif

APMrover2/make.inc

@@ -51,3 +51,4 @@ LIBRARIES += AC_Fence
 LIBRARIES += AP_SmartRTL
 LIBRARIES += AC_Avoidance
 LIBRARIES += AC_AttitudeControl
+LIBRARIES += AP_Devo_Telem

APMrover2/system.cpp

@@ -82,6 +82,9 @@ void Rover::init_ardupilot()
 #if FRSKY_TELEM_ENABLED == ENABLED
     frsky_telemetry.init(serial_manager, fwver.fw_string, (is_boat() ? MAV_TYPE_SURFACE_BOAT : MAV_TYPE_GROUND_ROVER));
 #endif
+#if DEVO_TELEM_ENABLED == ENABLED
+    devo_telemetry.init(serial_manager);
+#endif
 
 #if LOGGING_ENABLED == ENABLED
     log_init();
@@ -235,6 +238,10 @@ bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
 #if FRSKY_TELEM_ENABLED == ENABLED
     frsky_telemetry.update_control_mode(control_mode->mode_number());
 #endif
+#if DEVO_TELEM_ENABLED == ENABLED
+    devo_telemetry.update_control_mode(control_mode->mode_number());
+#endif
+
 #if CAMERA == ENABLED
     camera.set_is_auto_mode(control_mode->mode_number() == AUTO);
 #endif

APMrover2/wscript

@@ -25,6 +25,7 @@ def build(bld):
             'AP_Proximity',
             'AC_Avoidance',
             'AC_AttitudeControl',
+            'AP_Devo_Telem',
         ],
     )