Copter: integrate AP_Beacon

ArduCopter/ArduCopter.cpp

@@ -94,6 +94,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(auto_trim,             10,     75),
     SCHED_TASK(read_rangefinder,      20,    100),
     SCHED_TASK(update_proximity,     100,     50),
+    SCHED_TASK(update_beacon,        100,     50),
     SCHED_TASK(update_altitude,       10,    100),
     SCHED_TASK(run_nav_updates,       50,    100),
     SCHED_TASK(update_throttle_hover,100,     90),

ArduCopter/Copter.h

@@ -61,6 +61,7 @@
 #include <AP_RangeFinder/AP_RangeFinder.h>     // Range finder library
 #include <AP_Proximity/AP_Proximity.h>
 #include <AP_Stats/AP_Stats.h>     // statistics library
+#include <AP_Beacon/AP_Beacon.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
 #include <AP_RSSI/AP_RSSI.h>                   // RSSI Library
 #include <Filter/Filter.h>             // Filter library
@@ -716,6 +717,8 @@ private:
     void init_proximity();
     void update_proximity();
     void stats_update();
+    void init_beacon();
+    void update_beacon();
     void send_pid_tuning(mavlink_channel_t chan);
     void gcs_send_message(enum ap_message id);
     void gcs_send_mission_item_reached_message(uint16_t mission_index);

ArduCopter/Parameters.cpp

@@ -1039,6 +1039,9 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(gripper, "GRIP_", 13, ParametersG2, AP_Gripper),
 #endif
 
+    // @Group: BCN
+    // @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
+    AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon),
 
     AP_GROUPEND
 };
@@ -1048,7 +1051,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
   constructor for g2 object
  */
 ParametersG2::ParametersG2(void)
-    : proximity(copter.serial_manager)
+    : proximity(copter.serial_manager),
+      beacon(copter.serial_manager)
 #if ADVANCED_FAILSAFE == ENABLED
      ,afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
 #endif

ArduCopter/Parameters.h

@@ -569,6 +569,9 @@ public:
     AP_Proximity proximity;
 #endif
 
+    // beacon (non-GPS positioning) library
+    AP_Beacon beacon;
+
     // whether to enforce acceptance of packets only from sysid_my_gcs
     AP_Int8 sysid_enforce;
     

ArduCopter/sensors.cpp

@@ -434,3 +434,15 @@ void Copter::update_sensor_status_flags(void)
     frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
 #endif
 }
+
+// init beacons used for non-gps position estimates
+void Copter::init_beacon()
+{
+    g2.beacon.init();
+}
+
+// update beacons
+void Copter::update_beacon()
+{
+    g2.beacon.update();
+}

ArduCopter/system.cpp

@@ -262,6 +262,9 @@ void Copter::init_ardupilot()
     // init proximity sensor
     init_proximity();
 
+    // init beacons used for non-gps position estimation
+    init_beacon();
+
     // initialise AP_RPM library
     rpm_sensor.init();