AP_Mount: ported to AP_HAL

I do not have the hardware required to test this

libraries/AP_Mount/AP_Mount.cpp

@@ -1,7 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
 
-#include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Progmem.h>
 #include <AP_Param.h>
 #include <AP_Mount.h>
 
@@ -171,7 +171,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
     AP_GROUPEND
 };
 
-extern RC_Channel* rc_ch[NUM_CHANNELS];
+extern RC_Channel* rc_ch[8];
 
 AP_Mount::AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs, uint8_t id) :
     _gps(gps)

libraries/AP_Mount/AP_Mount.h

@@ -18,16 +18,15 @@
 * Comments: All angles in degrees * 100, distances in meters*
 *			unless otherwise stated.						*
 ************************************************************/
-#ifndef AP_Mount_H
-#define AP_Mount_H
+#ifndef __AP_MOUNT_H__
+#define __AP_MOUNT_H__
 
-#include <FastSerial.h>
 #include <AP_Math.h>
 #include <AP_Common.h>
 #include <AP_GPS.h>
 #include <AP_AHRS.h>
 #include <GCS_MAVLink.h>
-#include <../RC_Channel/RC_Channel_aux.h>
+#include <RC_Channel.h>
 
 class AP_Mount
 {
@@ -124,4 +123,5 @@ private:
     AP_Vector3f                     _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = tilt, vector.z=pan
     AP_Vector3f                     _control_angles; ///< GCS controlled position for mount, vector.x = roll vector.y = tilt, vector.z=pan
 };
-#endif
+
+#endif // __AP_MOUNT_H__

libraries/AP_Mount/examples/trivial_AP_Mount/Makefile

@@ -0,0 +1 @@
+include ../../../AP_Common/Arduino.mk

libraries/AP_Mount/examples/trivial_AP_Mount/trivial_AP_Mount.pde

@@ -0,0 +1,32 @@
+
+#include <AP_Common.h>
+#include <AP_Progmem.h>
+#include <AP_Param.h>
+#include <AP_Math.h>
+#include <AP_HAL.h>
+
+#include <AP_GPS.h>
+#include <AP_AHRS.h>
+#include <AP_InertialSensor.h>
+#include <AP_Compass.h>
+#include <AP_Declination.h>
+#include <AP_Airspeed.h>
+#include <AP_ADC.h>
+#include <AP_Baro.h>
+#include <AP_Buffer.h>
+#include <Filter.h>
+#include <GCS_MAVLink.h>
+#include <RC_Channel.h>
+
+#include <AP_Mount.h>
+
+#include <AP_HAL_AVR.h>
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+
+void setup () {
+    hal.console->println_P(PSTR("Unit test for AP_Mount. This sketch"
+                "has no functionality, it only tests build."));
+}
+void loop () {}
+
+AP_HAL_MAIN();