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AP_Vehicle: add support for the SmartAudio protocol

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Co-authored-by: luis.martinez.exts <luis.martinez@juntadeandalucia.es>
This commit is contained in:
Andy Piper 2021-01-29 19:55:49 +00:00 committed by Andrew Tridgell
parent 33fee211a4
commit b79ff9475d
2 changed files with 10 additions and 0 deletions
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5
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -144,8 +144,13 @@ void AP_Vehicle::setup()
// init library used for visual position estimation
visual_odom.init();
#endif
vtx.init();
#if HAL_SMARTAUDIO_ENABLED
smartaudio.init();
#endif
#if AP_PARAM_KEY_DUMP
AP_Param::show_all(hal.console, true);
#endif

5
libraries/AP_Vehicle/AP_Vehicle.h
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@ -45,6 +45,7 @@
#include <AP_MSP/AP_MSP.h>
#include <AP_Frsky_Telem/AP_Frsky_Parameters.h>
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#include <AP_VideoTX/AP_SmartAudio.h>
class AP_Vehicle : public AP_HAL::HAL::Callbacks {
@ -319,6 +320,10 @@ protected:
AP_ExternalAHRS externalAHRS;
#endif
#if HAL_SMARTAUDIO_ENABLED
AP_SmartAudio smartaudio;
#endif
static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Scheduler::Task scheduler_tasks[];