Rover: add AIS

Rover/Parameters.cpp

@@ -654,6 +654,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(torqeedo, "TRQD_", 49, ParametersG2, AP_Torqeedo),
 #endif
 
+#if HAL_AIS_ENABLED
+    // @Group: AIS_
+    // @Path: ../libraries/AP_AIS/AP_AIS.cpp
+    AP_SUBGROUPINFO(ais, "AIS_",  50, ParametersG2, AP_AIS),
+#endif
+
     AP_GROUPEND
 };
 

Rover/Parameters.h

@@ -409,6 +409,11 @@ public:
     // torqeedo motor driver
     AP_Torqeedo torqeedo;
 #endif
+
+#if HAL_AIS_ENABLED
+    // Automatic Identification System - for tracking sea-going vehicles
+    AP_AIS ais;
+#endif
 };
 
 extern const AP_Param::Info var_info[];

Rover/Rover.cpp

@@ -109,6 +109,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK(afs_fs_check,           10,    200),
 #endif
     SCHED_TASK(read_airspeed,          10,    100),
+#if HAL_AIS_ENABLED
+    SCHED_TASK_CLASS(AP_AIS, &rover.g2.ais, update, 5, 100),
+#endif
 };
 
 

Rover/Rover.h

@@ -70,6 +70,7 @@
 #include <AP_WindVane/AP_WindVane.h>
 #include <AR_Motors/AP_MotorsUGV.h>
 #include <AP_Torqeedo/AP_Torqeedo.h>
+#include <AP_AIS/AP_AIS.h>
 
 #ifdef ENABLE_SCRIPTING
 #include <AP_Scripting/AP_Scripting.h>

Rover/system.cpp

@@ -60,6 +60,10 @@ void Rover::init_ardupilot()
     log_init();
 #endif
 
+#if HAL_AIS_ENABLED
+    g2.ais.init();
+#endif
+
     // initialise compass
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();

Rover/wscript

@@ -27,6 +27,7 @@ def build(bld):
             'AP_WindVane',
             'AR_Motors',
             'AP_Torqeedo',
+            'AP_AIS',
         ],
     )