AP_Vehicle: generalise ESC telemetry to allow harmonic notch handling with other ESCs

log ESC telemetry data in frontend

libraries/AP_Vehicle/AP_Vehicle.cpp

@@ -175,6 +175,7 @@ void AP_Vehicle::setup()
 #if GENERATOR_ENABLED
     generator.init();
 #endif
+
 }
 
 void AP_Vehicle::loop()
@@ -221,6 +222,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
     SCHED_TASK(update_dynamic_notch,                   200,    200),
     SCHED_TASK_CLASS(AP_VideoTX,   &vehicle.vtx,            update,                    2, 100),
     SCHED_TASK(send_watchdog_reset_statustext,         0.1,     20),
+#if HAL_WITH_ESC_TELEM
+    SCHED_TASK_CLASS(AP_ESC_Telem, &vehicle.esc_telem,      update,                   10,  50),
+#endif
 #if GENERATOR_ENABLED
     SCHED_TASK_CLASS(AP_Generator, &vehicle.generator,      update,                   10,  50),
 #endif

libraries/AP_Vehicle/AP_Vehicle.h

@@ -307,7 +307,9 @@ protected:
     AP_VisualOdom visual_odom;
 #endif
 
+#if HAL_WITH_ESC_TELEM
     AP_ESC_Telem esc_telem;
+#endif
 
 #if HAL_MSP_ENABLED
     AP_MSP msp;