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Rover: add AIS

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This commit is contained in:
Peter Hall 2020-03-28 23:57:37 +00:00 committed by Randy Mackay
parent c539f0cff5
commit e86665a989
6 changed files with 20 additions and 0 deletions
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6
Rover/Parameters.cpp
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@ -654,6 +654,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPINFO(torqeedo, "TRQD_", 49, ParametersG2, AP_Torqeedo), AP_SUBGROUPINFO(torqeedo, "TRQD_", 49, ParametersG2, AP_Torqeedo),
#endif #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 AP_GROUPEND
}; };

5
Rover/Parameters.h
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@ -409,6 +409,11 @@ public:
// torqeedo motor driver // torqeedo motor driver
AP_Torqeedo torqeedo; AP_Torqeedo torqeedo;
#endif #endif
#if HAL_AIS_ENABLED
// Automatic Identification System - for tracking sea-going vehicles
AP_AIS ais;
#endif
}; };
extern const AP_Param::Info var_info[]; extern const AP_Param::Info var_info[];

3
Rover/Rover.cpp
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@ -109,6 +109,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(afs_fs_check, 10, 200), SCHED_TASK(afs_fs_check, 10, 200),
#endif #endif
SCHED_TASK(read_airspeed, 10, 100), SCHED_TASK(read_airspeed, 10, 100),
#if HAL_AIS_ENABLED
SCHED_TASK_CLASS(AP_AIS, &rover.g2.ais, update, 5, 100),
#endif
}; };

1
Rover/Rover.h
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@ -70,6 +70,7 @@
#include <AP_WindVane/AP_WindVane.h> #include <AP_WindVane/AP_WindVane.h>
#include <AR_Motors/AP_MotorsUGV.h> #include <AR_Motors/AP_MotorsUGV.h>
#include <AP_Torqeedo/AP_Torqeedo.h> #include <AP_Torqeedo/AP_Torqeedo.h>
#include <AP_AIS/AP_AIS.h>
#ifdef ENABLE_SCRIPTING #ifdef ENABLE_SCRIPTING
#include <AP_Scripting/AP_Scripting.h> #include <AP_Scripting/AP_Scripting.h>

4
Rover/system.cpp
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@ -60,6 +60,10 @@ void Rover::init_ardupilot()
log_init(); log_init();
#endif #endif
#if HAL_AIS_ENABLED
g2.ais.init();
#endif
// initialise compass // initialise compass
AP::compass().set_log_bit(MASK_LOG_COMPASS); AP::compass().set_log_bit(MASK_LOG_COMPASS);
AP::compass().init(); AP::compass().init();

1
Rover/wscript
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@ -27,6 +27,7 @@ def build(bld):
'AP_WindVane', 'AP_WindVane',
'AR_Motors', 'AR_Motors',
'AP_Torqeedo', 'AP_Torqeedo',
'AP_AIS',
], ],
) )