AP_Vehicle: add custom rotations lib

libraries/AP_Vehicle/AP_Vehicle.cpp

@@ -73,6 +73,10 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(airspeed, "ARSPD", 10, AP_Vehicle, AP_Airspeed),
 #endif
 
+    // @Group: CUST_ROT
+    // @Path: ../AP_CustomRotations/AP_CustomRotations.cpp
+    AP_SUBGROUPINFO(custom_rotations, "CUST_ROT", 11, AP_Vehicle, AP_CustomRotations),
+
     AP_GROUPEND
 };
 
@@ -204,6 +208,8 @@ void AP_Vehicle::setup()
     efi.init();
 #endif
 
+    custom_rotations.init();
+
     gcs().send_text(MAV_SEVERITY_INFO, "ArduPilot Ready");
 }
 

libraries/AP_Vehicle/AP_Vehicle.h

@@ -51,6 +51,7 @@
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
 #endif
+#include <AP_CustomRotations/AP_CustomRotations.h>
 
 class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
@@ -413,6 +414,8 @@ private:
     bool done_safety_init;
 
     uint32_t _last_internal_errors;  // backup of AP_InternalError::internal_errors bitmask
+
+    AP_CustomRotations custom_rotations;
 };
 
 namespace AP {