From 2aee8d1018642ec24e3b2c569f1cdcf6dd001bd7 Mon Sep 17 00:00:00 2001
From: night-ghost <night_ghost@ykoctpa.ru>
Date: Sun, 4 Mar 2018 14:41:06 +0500
Subject: [PATCH] APMrover2: devo telemetry support (RX705/707)

---
 APMrover2/Rover.h    | 4 ++++
 APMrover2/config.h   | 8 ++++++++
 APMrover2/make.inc   | 1 +
 APMrover2/system.cpp | 7 +++++++
 APMrover2/wscript    | 1 +
 5 files changed, 21 insertions(+)

diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 91c17492f6..79a275582a 100644
--- a/APMrover2/Rover.h
+++ b/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;
diff --git a/APMrover2/config.h b/APMrover2/config.h
index f45016bbaa..53c96af2d6 100644
--- a/APMrover2/config.h
+++ b/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
diff --git a/APMrover2/make.inc b/APMrover2/make.inc
index b9701796f0..99a6be9bd7 100644
--- a/APMrover2/make.inc
+++ b/APMrover2/make.inc
@@ -51,3 +51,4 @@ LIBRARIES += AC_Fence
 LIBRARIES += AP_SmartRTL
 LIBRARIES += AC_Avoidance
 LIBRARIES += AC_AttitudeControl
+LIBRARIES += AP_Devo_Telem
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index 5d81bdfb80..b3c91d0cfc 100644
--- a/APMrover2/system.cpp
+++ b/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
diff --git a/APMrover2/wscript b/APMrover2/wscript
index a65432691b..c1c7bb8589 100644
--- a/APMrover2/wscript
+++ b/APMrover2/wscript
@@ -25,6 +25,7 @@ def build(bld):
             'AP_Proximity',
             'AC_Avoidance',
             'AC_AttitudeControl',
+            'AP_Devo_Telem',
         ],
     )