Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Vehicle: add and use AP_VIDEOTX_ENABLED

Browse Source
This commit is contained in:
Peter Barker 2023-01-20 00:00:16 +11:00 committed by Andrew Tridgell
parent c139f7c730
commit a81bce6da4
2 changed files with 9 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_Vehicle/AP_Vehicle.cpp
View File

@ -41,9 +41,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
// @Path: ../AP_VisualOdom/AP_VisualOdom.cpp
AP_SUBGROUPINFO(visual_odom, "VISO", 3, AP_Vehicle, AP_VisualOdom),
#endif
#if AP_VIDEOTX_ENABLED
// @Group: VTX_
// @Path: ../AP_VideoTX/AP_VideoTX.cpp
AP_SUBGROUPINFO(vtx, "VTX_", 4, AP_Vehicle, AP_VideoTX),
#endif
#if HAL_MSP_ENABLED
// @Group: MSP
@ -232,7 +235,9 @@ void AP_Vehicle::setup()
visual_odom.init();
#endif
#if AP_VIDEOTX_ENABLED
vtx.init();
#endif
#if HAL_SMARTAUDIO_ENABLED
smartaudio.init();
@ -362,7 +367,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50, 210),
#endif
SCHED_TASK(update_dynamic_notch_at_specified_rate, LOOP_RATE, 200, 215),
#if AP_VIDEOTX_ENABLED
SCHED_TASK_CLASS(AP_VideoTX, &vehicle.vtx, update, 2, 100, 220),
#endif
#if AP_TRAMP_ENABLED
SCHED_TASK_CLASS(AP_Tramp, &vehicle.tramp, update, 50, 50, 225),
#endif

2
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -286,7 +286,9 @@ protected:
#if HAL_GYROFFT_ENABLED
AP_GyroFFT gyro_fft;
#endif
#if AP_VIDEOTX_ENABLED
AP_VideoTX vtx;
#endif
AP_SerialManager serial_manager;
AP_Relay relay;