ArduPlane: devo telemetry support (RX705/707)

ArduPlane/Plane.h

@@ -84,6 +84,7 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_Frsky_Telem/AP_Frsky_Telem.h>
+#include <AP_Devo_Telem/AP_Devo_Telem.h>
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
 
 #include <AP_Rally/AP_Rally.h>
@@ -390,6 +391,10 @@ private:
     // FrSky telemetry support
     AP_Frsky_Telem frsky_telemetry{ahrs, battery, rangefinder};
 #endif
+#if DEVO_TELEM_ENABLED == ENABLED
+    // DEVO-M telemetry support
+    AP_DEVO_Telem devo_telemetry {ahrs};
+#endif
 
     // Variables for extended status MAVLink messages
     uint32_t control_sensors_present;

ArduPlane/config.h

@@ -365,3 +365,11 @@
 #ifndef STATS_ENABLED
  # define STATS_ENABLED ENABLED
 #endif
+
+#ifndef DEVO_TELEM_ENABLED
+#if HAL_MINIMIZE_FEATURES
+ #define DEVO_TELEM_ENABLED DISABLED
+#else
+ #define DEVO_TELEM_ENABLED ENABLED
+#endif
+#endif

ArduPlane/make.inc

@@ -60,3 +60,4 @@ LIBRARIES += AP_Beacon
 LIBRARIES += PID
 LIBRARIES += AP_Soaring
 LIBRARIES += AP_Gripper
+LIBRARIES += AP_Devo_Telem

ArduPlane/system.cpp

@@ -119,6 +119,9 @@ void Plane::init_ardupilot()
     frsky_telemetry.init(serial_manager, fwver.fw_string,
                          MAV_TYPE_FIXED_WING);
 #endif
+#if DEVO_TELEM_ENABLED == ENABLED
+    devo_telemetry.init(serial_manager);
+#endif
 
 #if LOGGING_ENABLED == ENABLED
     log_init();
@@ -301,6 +304,10 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
 #if FRSKY_TELEM_ENABLED == ENABLED
     frsky_telemetry.update_control_mode(control_mode);
 #endif
+#if DEVO_TELEM_ENABLED == ENABLED
+    devo_telemetry.update_control_mode(control_mode);
+#endif
+
 #if CAMERA == ENABLED
     camera.set_is_auto_mode(control_mode == AUTO);
 #endif

ArduPlane/wscript

@@ -32,7 +32,8 @@ def build(bld):
             'AP_Beacon',
             'PID',
             'AP_Soaring',
-            'AP_Gripper'
+            'AP_Gripper',
+            'AP_Devo_Telem',
         ],
     )