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AP_Vehicle: add OpenDroneID library

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This commit is contained in:
Joshua Henderson 2022-07-28 04:42:22 -04:00 committed by Randy Mackay
parent 21c2c7953e
commit 9c6b941ef2
2 changed files with 18 additions and 0 deletions
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13
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -75,6 +75,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
AP_SUBGROUPINFO(airspeed, "ARSPD", 10, AP_Vehicle, AP_Airspeed),
#endif
#if AP_OPENDRONEID_ENABLED
// @Group: DID_
// @Path: ../AP_OpenDroneID/AP_OpenDroneID.cpp
AP_SUBGROUPINFO(opendroneid, "DID_", 15, AP_Vehicle, AP_OpenDroneID),
#endif
AP_GROUPEND
};
@ -201,6 +207,10 @@ void AP_Vehicle::setup()
generator.init();
#endif
#if AP_OPENDRONEID_ENABLED
opendroneid.init();
#endif
// init EFI monitoring
#if HAL_EFI_ENABLED
efi.init();
@ -295,6 +305,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
#if HAL_GENERATOR_ENABLED
SCHED_TASK_CLASS(AP_Generator, &vehicle.generator, update, 10, 50, 235),
#endif
#if AP_OPENDRONEID_ENABLED
SCHED_TASK_CLASS(AP_OpenDroneID, &vehicle.opendroneid, update, 10, 50, 236),
#endif
#if OSD_ENABLED
SCHED_TASK(publish_osd_info, 1, 10, 240),
#endif

5
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -38,6 +38,7 @@
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Camera/AP_RunCam.h>
#include <AP_OpenDroneID/AP_OpenDroneID.h>
#include <AP_Hott_Telem/AP_Hott_Telem.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include <AP_GyroFFT/AP_GyroFFT.h>
@ -354,6 +355,10 @@ protected:
AP_ESC_Telem esc_telem;
#endif
#if AP_OPENDRONEID_ENABLED
AP_OpenDroneID opendroneid;
#endif
#if HAL_MSP_ENABLED
AP_MSP msp;
#endif