From db611e074c37360ba8ba372f1591d70b19f6295f Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 8 Aug 2018 12:48:30 +0900
Subject: [PATCH] Rover: include wheel-rate-control

---
 APMrover2/Parameters.cpp | 5 +++++
 APMrover2/Parameters.h   | 1 +
 APMrover2/Rover.h        | 2 ++
 3 files changed, 8 insertions(+)

diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 3cf40bce09..4aa8e8bf5b 100644
--- a/APMrover2/Parameters.cpp
+++ b/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),
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index bb42072d94..55e5d89d69 100644
--- a/APMrover2/Parameters.h
+++ b/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;
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index b4b02ddc9f..d7fe194102 100644
--- a/APMrover2/Rover.h
+++ b/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;