AP_Periph: add AP_NMEA_Output to Periph

Tools/AP_Periph/AP_Periph.cpp

@@ -245,6 +245,10 @@ void AP_Periph_FW::init()
     temperature_sensor.init();
 #endif
 
+#if HAL_NMEA_OUTPUT_ENABLED
+    nmea.init();
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_NOTIFY
     notify.init();
 #endif
@@ -442,6 +446,10 @@ void AP_Periph_FW::update()
 #endif
     }
 
+#if HAL_NMEA_OUTPUT_ENABLED
+    nmea.update();
+#endif
+
 #if AP_TEMPERATURE_SENSOR_ENABLED
     temperature_sensor.update();
 #endif

Tools/AP_Periph/AP_Periph.h

@@ -24,6 +24,13 @@
 #include <AP_HAL/CANIface.h>
 #include <AP_Stats/AP_Stats.h>
 
+
+#include <AP_NMEA_Output/AP_NMEA_Output.h>
+#if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && defined(HAL_PERIPH_ENABLE_GPS))
+    // Needs SerialManager + (AHRS or GPS)
+    #error "AP_NMEA_Output requires Serial/GCS and either AHRS or GPS. Needs HAL_GCS_ENABLED and HAL_PERIPH_ENABLE_GPS"
+#endif
+
 #if HAL_GCS_ENABLED
 #include "GCS_MAVLink.h"
 #endif
@@ -128,6 +135,10 @@ public:
 #endif
 #endif
 
+#if HAL_NMEA_OUTPUT_ENABLED
+    AP_NMEA_Output nmea;
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_MAG
     Compass compass;
 #endif

Tools/AP_Periph/Parameters.cpp

@@ -517,6 +517,12 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(proximity, "PRX", AP_Proximity),
 #endif
 
+#if HAL_NMEA_OUTPUT_ENABLED
+    // @Group: NMEA_
+    // @Path: ../libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
+    GOBJECT(nmea, "NMEA_",   AP_NMEA_Output),
+#endif
+
     AP_VAREND
 };
 

Tools/AP_Periph/Parameters.h

@@ -69,6 +69,7 @@ public:
         k_param_proximity_baud,
         k_param_proximity_port,
         k_param_proximity_max_rate,
+        k_param_nmea,
     };
 
     AP_Int16 format_version;

Tools/AP_Periph/wscript

@@ -46,6 +46,7 @@ def build(bld):
                      'AP_SerialManager',
                      'AP_RTC',
                      'AP_Compass',
+                     'AP_NMEA_Output',
                      'AP_Baro',
                      'Filter',
                      'AP_InternalError',