AP_vehicle: added support for frsky bidirectional telemetry

libraries/AP_Vehicle/AP_Vehicle.cpp

@@ -3,6 +3,7 @@
 #include <AP_BLHeli/AP_BLHeli.h>
 #include <AP_Common/AP_FWVersion.h>
 #include <AP_Arming/AP_Arming.h>
+#include <AP_Frsky_Telem/AP_Frsky_Parameters.h>
 
 #define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros)
 
@@ -27,7 +28,6 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     // @Path: ../AP_VisualOdom/AP_VisualOdom.cpp
     AP_SUBGROUPINFO(visual_odom, "VISO",  3, AP_Vehicle, AP_VisualOdom),
 #endif
-
     // @Group: VTX_
     // @Path: ../AP_RCTelemetry/AP_VideoTX.cpp
     AP_SUBGROUPINFO(vtx, "VTX_",  4, AP_Vehicle, AP_VideoTX),
@@ -38,6 +38,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(msp, "MSP",  5, AP_Vehicle, AP_MSP),
 #endif
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
+    // @Group: FRSKY_
+    // @Path: ../AP_Frsky_Telem/AP_Frsky_Parameters.cpp
+    AP_SUBGROUPINFO(frsky_parameters, "FRSKY_", 6, AP_Vehicle, AP_Frsky_Parameters),
+#endif
+
     AP_GROUPEND
 };
 

libraries/AP_Vehicle/AP_Vehicle.h

@@ -43,6 +43,7 @@
 #include <AP_VisualOdom/AP_VisualOdom.h>
 #include <AP_RCTelemetry/AP_VideoTX.h>
 #include <AP_MSP/AP_MSP.h>
+#include <AP_Frsky_Telem/AP_Frsky_Parameters.h>
 
 class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
@@ -213,6 +214,10 @@ public:
     // and flashing LEDs as appropriate
     void reboot(bool hold_in_bootloader);
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
+    AP_Frsky_Parameters frsky_parameters;
+#endif
+
 protected:
 
     virtual void init_ardupilot() = 0;

libraries/AP_Vehicle/ModeReason.h

@@ -59,4 +59,5 @@ enum class ModeReason : uint8_t {
   RTL_COMPLETE_SWITCHING_TO_VTOL_LAND_RTL,
   RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND,
   MISSION_CMD,
+  FRSKY_COMMAND,
 };