Rover: Activation of OSD

Rover: Activation of OSD

APMrover2/Parameters.cpp

@@ -413,6 +413,12 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: Parameters.cpp
     GOBJECT(g2, "",  ParametersG2),
 
+#if OSD_ENABLED == ENABLED
+    // @Group: OSD
+    // @Path: ../libraries/AP_OSD/AP_OSD.cpp
+    GOBJECT(osd, "OSD", AP_OSD),
+#endif
+
     AP_VAREND
 };
 

APMrover2/Parameters.h

@@ -202,6 +202,7 @@ public:
         k_param_barometer,
         k_param_notify,
         k_param_button,
+        k_param_osd,
 
         k_param_DataFlash = 253,  // Logging Group
 

APMrover2/Rover.h

@@ -79,6 +79,7 @@
 #include <AP_Proximity/AP_Proximity.h>
 #include <AC_Avoidance/AC_Avoid.h>
 #include <AP_Follow/AP_Follow.h>
+#include <AP_OSD/AP_OSD.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
 #endif
@@ -204,6 +205,10 @@ private:
     // RSSI
     AP_RSSI rssi;
 
+#if OSD_ENABLED == ENABLED
+    AP_OSD osd;
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;
 #endif

APMrover2/config.h

@@ -171,3 +171,8 @@
  #define DEVO_TELEM_ENABLED ENABLED
 #endif
 #endif
+
+#ifndef OSD_ENABLED
+ #define OSD_ENABLED DISABLED
+#endif
+

APMrover2/make.inc

@@ -51,3 +51,4 @@ LIBRARIES += AC_Avoidance
 LIBRARIES += AC_AttitudeControl
 LIBRARIES += AP_Devo_Telem
 LIBRARIES += AP_Follow
+LIBRARIES += AP_OSD

APMrover2/system.cpp

@@ -78,6 +78,10 @@ void Rover::init_ardupilot()
     devo_telemetry.init(serial_manager);
 #endif
 
+#if OSD_ENABLED == ENABLED
+    osd.init();
+#endif
+
 #if LOGGING_ENABLED == ENABLED
     log_init();
 #endif

APMrover2/wscript

@@ -25,6 +25,7 @@ def build(bld):
             'AC_AttitudeControl',
             'AP_Devo_Telem',
             'AP_Follow',
+            'AP_OSD',
         ],
     )