From 30fffb491c776de6837ae0b6b092e706d0be3b4c Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 14 Aug 2021 22:29:21 +0100
Subject: [PATCH] AP_Vehicle: add AIS

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 13 +++++++++++++
 libraries/AP_Vehicle/AP_Vehicle.h   |  6 ++++++
 2 files changed, 19 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 8425eb787d..9184eec3da 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -86,6 +86,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(esc_telem, "ESC_TLM", 12, AP_Vehicle, AP_ESC_Telem),
 #endif
 
+#if AP_AIS_ENABLED
+    // @Group: AIS_
+    // @Path: ../AP_AIS/AP_AIS.cpp
+    AP_SUBGROUPINFO(ais, "AIS_",  13, AP_Vehicle, AP_AIS),
+#endif
+
     AP_GROUPEND
 };
 
@@ -217,6 +223,10 @@ void AP_Vehicle::setup()
     efi.init();
 #endif
 
+#if AP_AIS_ENABLED
+    ais.init();
+#endif
+
     custom_rotations.init();
 
     gcs().send_text(MAV_SEVERITY_INFO, "ArduPilot Ready");
@@ -307,6 +317,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if HAL_INS_ACCELCAL_ENABLED
     SCHED_TASK(accel_cal_update,      10,    100, 245),
 #endif
+#if AP_AIS_ENABLED
+    SCHED_TASK_CLASS(AP_AIS,       &vehicle.ais,            update,                    5, 100, 249),
+#endif
 #if HAL_EFI_ENABLED
     SCHED_TASK_CLASS(AP_EFI,       &vehicle.efi,            update,                   10, 200, 250),
 #endif
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index f5b36abf2c..e6ba27467b 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -51,6 +51,7 @@
 #include <AP_VideoTX/AP_SmartAudio.h>
 #include <SITL/SITL.h>
 #include <AP_CustomRotations/AP_CustomRotations.h>
+#include <AP_AIS/AP_AIS.h>
 
 class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
@@ -386,6 +387,11 @@ protected:
     AP_Airspeed airspeed;
 #endif
 
+#if AP_AIS_ENABLED
+    // Automatic Identification System - for tracking sea-going vehicles
+    AP_AIS ais;
+#endif
+
     static const struct AP_Param::GroupInfo var_info[];
     static const struct AP_Scheduler::Task scheduler_tasks[];