From 66d4caeeb0059e32510bb44925f80a121a9030ca Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Wed, 15 Jun 2016 17:17:57 -0700
Subject: [PATCH] Copter: add ADSB_streamrate

---
 ArduCopter/GCS_Mavlink.cpp | 22 +++++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 0518f0370b..f81983d8c5 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -740,6 +740,11 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
     case MSG_MAG_CAL_REPORT:
         copter.compass.send_mag_cal_report(chan);
         break;
+
+    case MSG_ADSB_VEHICLE:
+        CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
+        copter.adsb.send_adsb_vehicle(chan);
+        break;
     }
 
     return true;
@@ -827,7 +832,16 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Increment: 1
     // @User: Advanced
     AP_GROUPINFO("PARAMS",   8, GCS_MAVLINK, streamRates[8],  0),
-    AP_GROUPEND
+
+    // @Param: ADSB
+    // @DisplayName: ADSB stream rate to ground station
+    // @Description: ADSB stream rate to ground station
+    // @Units: Hz
+    // @Range: 0 50
+    // @Increment: 1
+    // @User: Advanced
+    AP_GROUPINFO("ADSB",   9, GCS_MAVLINK, streamRates[9],  5),
+AP_GROUPEND
 };
 
 void
@@ -933,6 +947,12 @@ GCS_MAVLINK_Copter::data_stream_send(void)
         send_message(MSG_VIBRATION);
         send_message(MSG_RPM);
     }
+
+    if (copter.gcs_out_of_time) return;
+
+    if (stream_trigger(STREAM_ADSB)) {
+        send_message(MSG_ADSB_VEHICLE);
+    }
 }