Rover: create generic vehicle management and move runcam to it

APMrover2/Parameters.cpp

@@ -371,6 +371,10 @@ const AP_Param::Info Rover::var_info[] = {
     GOBJECT(osd, "OSD", AP_OSD),
 #endif
 
+    // @Group:
+    // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
+    { AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&rover, {group_info : AP_Vehicle::var_info} },
+
     AP_VAREND
 };
 

APMrover2/Parameters.h

@@ -212,6 +212,8 @@ public:
         k_param_logger = 253,  // Logging Group
 
         // 254,255: reserved
+
+        k_param_vehicle = 257, // vehicle common block of parameters
         };
 
     AP_Int16    format_version;

APMrover2/Rover.cpp

@@ -350,5 +350,6 @@ void Rover::publish_osd_info()
 #endif
 
 Rover rover;
+AP_Vehicle& vehicle = rover;
 
 AP_HAL_MAIN_CALLBACKS(&rover);

APMrover2/system.cpp

@@ -132,6 +132,9 @@ void Rover::init_ardupilot()
     camera_mount.init();
 #endif
 
+    // run all the vehicle initialization routines
+    init_vehicle();
+
     /*
       setup the 'main loop is dead' check. Note that this relies on
       the RC library being initialised.

APMrover2/wscript

@@ -9,7 +9,6 @@ def build(bld):
         ap_libraries=bld.ap_common_vehicle_libraries() + [
             'APM_Control',
             'AP_Arming',
-            'AP_Camera',
             'AP_L1_Control',
             'AP_Mount',
             'AP_Navigation',