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AP_Vehicle: wire-in tramp support

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This commit is contained in:
Andy Piper 2022-06-18 18:50:31 +01:00 committed by Andrew Tridgell
parent c541639e13
commit 58ea8d6b7b
2 changed files with 12 additions and 0 deletions
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7
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -208,6 +208,10 @@ void AP_Vehicle::setup()
smartaudio.init(); smartaudio.init();
#endif #endif
#if AP_TRAMP_ENABLED
tramp.init();
#endif
#if AP_PARAM_KEY_DUMP #if AP_PARAM_KEY_DUMP
AP_Param::show_all(hal.console, true); AP_Param::show_all(hal.console, true);
#endif #endif
@ -304,6 +308,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
#endif #endif
SCHED_TASK(update_dynamic_notch_at_specified_rate, LOOP_RATE, 200, 215), SCHED_TASK(update_dynamic_notch_at_specified_rate, LOOP_RATE, 200, 215),
SCHED_TASK_CLASS(AP_VideoTX, &vehicle.vtx, update, 2, 100, 220), SCHED_TASK_CLASS(AP_VideoTX, &vehicle.vtx, update, 2, 100, 220),
#if AP_TRAMP_ENABLED
SCHED_TASK_CLASS(AP_Tramp, &vehicle.tramp, update, 50, 50, 225),
#endif
SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20, 225), SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20, 225),
#if HAL_WITH_ESC_TELEM #if HAL_WITH_ESC_TELEM
SCHED_TASK_CLASS(AP_ESC_Telem, &vehicle.esc_telem, update, 100, 50, 230), SCHED_TASK_CLASS(AP_ESC_Telem, &vehicle.esc_telem, update, 100, 50, 230),

5
libraries/AP_Vehicle/AP_Vehicle.h
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@ -49,6 +49,7 @@
#include <AP_Frsky_Telem/AP_Frsky_Parameters.h> #include <AP_Frsky_Telem/AP_Frsky_Parameters.h>
#include <AP_ExternalAHRS/AP_ExternalAHRS.h> #include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#include <AP_VideoTX/AP_SmartAudio.h> #include <AP_VideoTX/AP_SmartAudio.h>
#include <AP_VideoTX/AP_Tramp.h>
#include <SITL/SITL.h> #include <SITL/SITL.h>
#include <AP_CustomRotations/AP_CustomRotations.h> #include <AP_CustomRotations/AP_CustomRotations.h>
#include <AP_AIS/AP_AIS.h> #include <AP_AIS/AP_AIS.h>
@ -378,6 +379,10 @@ protected:
AP_SmartAudio smartaudio; AP_SmartAudio smartaudio;
#endif #endif
#if AP_TRAMP_ENABLED
AP_Tramp tramp;
#endif
#if HAL_EFI_ENABLED #if HAL_EFI_ENABLED
// EFI Engine Monitor // EFI Engine Monitor
AP_EFI efi; AP_EFI efi;