From f15c84bdacf1a298f1e947aa07509fa2c4250e9d Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 5 Nov 2021 16:13:03 +0000
Subject: [PATCH] AP_Vehicle: add custom rotations lib

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 6 ++++++
 libraries/AP_Vehicle/AP_Vehicle.h   | 3 +++
 2 files changed, 9 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 338081b6c9..d0b37269b9 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -73,6 +73,10 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(airspeed, "ARSPD", 10, AP_Vehicle, AP_Airspeed),
 #endif
 
+    // @Group: CUST_ROT
+    // @Path: ../AP_CustomRotations/AP_CustomRotations.cpp
+    AP_SUBGROUPINFO(custom_rotations, "CUST_ROT", 11, AP_Vehicle, AP_CustomRotations),
+
     AP_GROUPEND
 };
 
@@ -204,6 +208,8 @@ void AP_Vehicle::setup()
     efi.init();
 #endif
 
+    custom_rotations.init();
+
     gcs().send_text(MAV_SEVERITY_INFO, "ArduPilot Ready");
 }
 
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 2d0b0bf786..4df022eb8b 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -51,6 +51,7 @@
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
 #endif
+#include <AP_CustomRotations/AP_CustomRotations.h>
 
 class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
@@ -413,6 +414,8 @@ private:
     bool done_safety_init;
 
     uint32_t _last_internal_errors;  // backup of AP_InternalError::internal_errors bitmask
+
+    AP_CustomRotations custom_rotations;
 };
 
 namespace AP {