From 9c6b941ef2d9fd301e50a261c62dfc63ddeecf3b Mon Sep 17 00:00:00 2001
From: Joshua Henderson <hendjoshsr71@gmail.com>
Date: Thu, 28 Jul 2022 04:42:22 -0400
Subject: [PATCH] AP_Vehicle: add OpenDroneID library

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 13 +++++++++++++
 libraries/AP_Vehicle/AP_Vehicle.h   |  5 +++++
 2 files changed, 18 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 2b593909e9..ebec1386bf 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -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
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index aabcdab445..4e8d9fc732 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -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