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AP_Vehicle: move AP_NMEA_OUTPUT to a first class library

This commit is contained in:
Tom Pittenger 2023-01-30 14:40:14 -08:00 committed by Peter Barker
parent ea35b28b22
commit 468d773391
2 changed files with 18 additions and 0 deletions
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13
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -118,6 +118,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
AP_SUBGROUPINFO(temperature_sensor, "TEMP", 16, AP_Vehicle, AP_TemperatureSensor),
#endif
#if HAL_NMEA_OUTPUT_ENABLED
// @Group: NMEA_
// @Path: ../AP_NMEA_Output/AP_NMEA_Output.cpp
AP_SUBGROUPINFO(nmea, "NMEA_", 17, AP_Vehicle, AP_NMEA_Output),
#endif
AP_GROUPEND
};
@ -274,6 +280,10 @@ void AP_Vehicle::setup()
ais.init();
#endif
#if HAL_NMEA_OUTPUT_ENABLED
nmea.init();
#endif
#if AP_FENCE_ENABLED
fence.init();
#endif
@ -359,6 +369,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
#if COMPASS_CAL_ENABLED
SCHED_TASK_CLASS(Compass, &vehicle.compass, cal_update, 100, 200, 75),
#endif
#if HAL_NMEA_OUTPUT_ENABLED
SCHED_TASK_CLASS(AP_NMEA_Output, &vehicle.nmea, update, 50, 50, 180),
#endif
#if HAL_RUNCAM_ENABLED
SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50, 200),
#endif

5
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -55,6 +55,7 @@
#include <SITL/SITL.h>
#include <AP_CustomRotations/AP_CustomRotations.h>
#include <AP_AIS/AP_AIS.h>
#include <AP_NMEA_Output/AP_NMEA_Output.h>
#include <AC_Fence/AC_Fence.h>
#include <AP_CheckFirmware/AP_CheckFirmware.h>
#include <Filter/LowPassFilter.h>
@ -352,6 +353,10 @@ protected:
AP_AIS ais;
#endif
#if HAL_NMEA_OUTPUT_ENABLED
AP_NMEA_Output nmea;
#endif
#if AP_FENCE_ENABLED
AC_Fence fence;
#endif