Rover: include precision landing library in rover

This compiles rover with precision landing library included

Rover/Parameters.cpp

@@ -306,6 +306,12 @@ const AP_Param::Info Rover::var_info[] = {
     GOBJECT(camera,                  "CAM_", AP_Camera),
 #endif
 
+#if PRECISION_LANDING == ENABLED
+    // @Group: PLND_
+    // @Path: ../libraries/AC_PrecLand/AC_PrecLand.cpp
+    GOBJECT(precland,                "PLND_", AC_PrecLand),
+#endif
+
 #if HAL_MOUNT_ENABLED
     // @Group: MNT
     // @Path: ../libraries/AP_Mount/AP_Mount.cpp

Rover/Parameters.h

@@ -55,6 +55,8 @@ public:
         k_param_battery_volt_pin,
         k_param_battery_curr_pin,
 
+        k_param_precland = 24,
+
         // braking
         k_param_braking_percent_old = 30,   // unused
         k_param_braking_speederr_old,       // unused

Rover/Rover.cpp

@@ -94,6 +94,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events,  50,  200,  66),
 #if GRIPPER_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Gripper,          &rover.g2.gripper,       update,         10,   75,  69),
+#if PRECISION_LANDING == ENABLED
+    SCHED_TASK(update_precland,      400,     50,  70),
+#endif
 #endif
     SCHED_TASK_CLASS(AP_RPM,              &rover.rpm_sensor,       update,         10,  100,  72),
 #if HAL_MOUNT_ENABLED

Rover/Rover.h

@@ -61,6 +61,9 @@
 #include "GCS_Rover.h"
 #include "AP_Rally.h"
 #include "RC_Channel.h"                  // RC Channel Library
+#if PRECISION_LANDING == ENABLED
+#include <AC_PrecLand/AC_PrecLand.h>
+#endif
 
 #include "mode.h"
 
@@ -136,7 +139,9 @@ private:
 #if OSD_ENABLED || OSD_PARAM_ENABLED
     AP_OSD osd;
 #endif
-
+#if PRECISION_LANDING == ENABLED
+    AC_PrecLand precland;
+#endif
     // GCS handling
     GCS_Rover _gcs;  // avoid using this; use gcs()
     GCS_Rover &gcs() { return _gcs; }
@@ -315,6 +320,10 @@ private:
     // Parameters.cpp
     void load_parameters(void) override;
 
+    // precision_landing.cpp
+    void init_precland();
+    void update_precland();
+
     // radio.cpp
     void set_control_channels(void) override;
     void init_rc_in();

Rover/config.h

@@ -52,6 +52,12 @@
  #define AP_RALLY ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Precision Landing with companion computer or IRLock sensor
+#ifndef PRECISION_LANDING
+ # define PRECISION_LANDING ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // NAVL1
 //

Rover/precision_landing.cpp

@@ -0,0 +1,19 @@
+//
+// functions to support precision landing
+//
+
+#include "Rover.h"
+
+#if PRECISION_LANDING == ENABLED
+
+void Rover::init_precland()
+{
+    rover.precland.init(400);
+}
+
+void Rover::update_precland()
+{
+    // alt will be unused if we pass false through as the second parameter:
+    return precland.update(0, false);
+}
+#endif

Rover/system.cpp

@@ -105,6 +105,11 @@ void Rover::init_ardupilot()
     camera_mount.init();
 #endif
 
+#if PRECISION_LANDING == ENABLED
+    // initialise precision landing
+    init_precland();
+#endif
+
     /*
       setup the 'main loop is dead' check. Note that this relies on
       the RC library being initialised.

Rover/wscript

@@ -25,6 +25,8 @@ def build(bld):
             'AP_WindVane',
             'AR_Motors',
             'AP_Torqeedo',
+            'AC_PrecLand',
+            'AP_IRLock',
         ],
     )