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AP_Vehicle: add VideoTX

This commit is contained in:
Andy Piper 2020-05-28 21:50:07 +01:00 committed by Andrew Tridgell
parent ac5a7275bf
commit 820d6654af
2 changed files with 8 additions and 0 deletions
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6
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -27,6 +27,10 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
AP_SUBGROUPINFO(visual_odom, "VISO", 3, AP_Vehicle, AP_VisualOdom), AP_SUBGROUPINFO(visual_odom, "VISO", 3, AP_Vehicle, AP_VisualOdom),
#endif #endif
// @Group: VTX_
// @Path: ../AP_RCTelemetry/AP_VideoTX.cpp
AP_SUBGROUPINFO(vtx, "VTX_", 4, AP_Vehicle, AP_VideoTX),
AP_GROUPEND AP_GROUPEND
}; };
@ -102,6 +106,7 @@ void AP_Vehicle::setup()
// init library used for visual position estimation // init library used for visual position estimation
visual_odom.init(); visual_odom.init();
#endif #endif
vtx.init();
#if AP_PARAM_KEY_DUMP #if AP_PARAM_KEY_DUMP
AP_Param::show_all(hal.console, true); AP_Param::show_all(hal.console, true);
@ -138,6 +143,7 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50), SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50),
#endif #endif
SCHED_TASK(update_dynamic_notch, 200, 200), SCHED_TASK(update_dynamic_notch, 200, 200),
SCHED_TASK_CLASS(AP_VideoTX, &vehicle.vtx, update, 2, 100),
SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20), SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20),
}; };

2
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -41,6 +41,7 @@
#include <AP_ESC_Telem/AP_ESC_Telem.h> #include <AP_ESC_Telem/AP_ESC_Telem.h>
#include <AP_GyroFFT/AP_GyroFFT.h> #include <AP_GyroFFT/AP_GyroFFT.h>
#include <AP_VisualOdom/AP_VisualOdom.h> #include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_RCTelemetry/AP_VideoTX.h>
class AP_Vehicle : public AP_HAL::HAL::Callbacks { class AP_Vehicle : public AP_HAL::HAL::Callbacks {
@ -221,6 +222,7 @@ protected:
#if HAL_GYROFFT_ENABLED #if HAL_GYROFFT_ENABLED
AP_GyroFFT gyro_fft; AP_GyroFFT gyro_fft;
#endif #endif
AP_VideoTX vtx;
AP_SerialManager serial_manager; AP_SerialManager serial_manager;
AP_Relay relay; AP_Relay relay;