Rover: include wheel-rate-control

APMrover2/Parameters.cpp

@@ -575,6 +575,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
     AP_SUBGROUPINFO(sprayer, "SPRAY_", 26, ParametersG2, AC_Sprayer),
 
+    // @Group: WRC
+    // @Path: ../libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
+    AP_SUBGROUPINFO(wheel_rate_control, "WRC", 27, ParametersG2, AP_WheelRateControl),
+
     AP_GROUPEND
 };
 
@@ -599,6 +603,7 @@ ParametersG2::ParametersG2(void)
 #endif
     beacon(rover.serial_manager),
     motors(rover.ServoRelayEvents),
+    wheel_rate_control(wheel_encoder),
     attitude_control(rover.ahrs),
     smart_rtl(),
     fence(rover.ahrs),

APMrover2/Parameters.h

@@ -312,6 +312,7 @@ public:
 
     // wheel encoders
     AP_WheelEncoder wheel_encoder;
+    AP_WheelRateControl wheel_rate_control;
 
     // steering and throttle controller
     AR_AttitudeControl attitude_control;

APMrover2/Rover.h

@@ -65,6 +65,7 @@
 #include <AP_Vehicle/AP_Vehicle.h>                  // needed for AHRS build
 #include <AP_VisualOdom/AP_VisualOdom.h>
 #include <AP_WheelEncoder/AP_WheelEncoder.h>
+#include <AP_WheelEncoder/AP_WheelRateControl.h>
 #include <APM_Control/AR_AttitudeControl.h>
 #include <AP_SmartRTL/AP_SmartRTL.h>
 #include <DataFlash/DataFlash.h>
@@ -565,6 +566,7 @@ public:
 
     // frame type
     uint8_t get_frame_type() { return g2.frame_type.get(); }
+    AP_WheelRateControl& get_wheel_rate_control() { return g2.wheel_rate_control; }
 };
 
 extern const AP_HAL::HAL& hal;