HAL_Linux: setup RCIN for vnav

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -163,6 +163,9 @@ static RCInput_SoloLink rcinDriver;
 static RCInput_Navio2 rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
 static RCInput_RCProtocol rcinDriver{"/dev/ttyPS0", NULL};
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
+// this is needed to allow for RC input using SERIALn_PROTOCOL=23
+static RCInput_RCProtocol rcinDriver{"/dev/null", NULL};
 #else
 static RCInput rcinDriver;
 #endif

libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp

@@ -27,7 +27,8 @@
 #include <GCS_MAVLink/GCS.h>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
 
 extern const AP_HAL::HAL& hal;
 

libraries/AP_HAL_Linux/RCInput_RCProtocol.h

@@ -24,7 +24,8 @@
 #include <stdarg.h>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
 
 namespace Linux {