ArduCopter: devo telemetry support (RX705/707)

ArduCopter/APM_Config.h

@@ -42,6 +42,7 @@
 //#define MODE_SMARTRTL_ENABLED DISABLED            // disable smartrtl mode support
 //#define MODE_SPORT_ENABLED DISABLED               // disable sport mode support
 //#define MODE_THROW_ENABLED    DISABLED            // disable throw mode support
+//#define DEVO_TELEM_ENABLED DISABLED               // disable DEVO telemetry, if you don't use Walkera RX-707 (or newer) receivers
 
 
 // features below are disabled by default on all boards

ArduCopter/Copter.h

@@ -147,6 +147,11 @@
 #if CAMERA == ENABLED
  # include <AP_Camera/AP_Camera.h>
 #endif
+
+#if DEVO_TELEM_ENABLED == ENABLED
+ #include <AP_Devo_Telem/AP_Devo_Telem.h>
+#endif
+
 #if ADVANCED_FAILSAFE == ENABLED
  # include "afs_copter.h"
 #endif
@@ -441,6 +446,9 @@ private:
     // FrSky telemetry support
     AP_Frsky_Telem frsky_telemetry{ahrs, battery, rangefinder};
 #endif
+#if DEVO_TELEM_ENABLED == ENABLED
+    AP_DEVO_Telem devo_telemetry{ahrs};
+#endif
 
     // Variables for extended status MAVLink messages
     uint32_t control_sensors_present;

ArduCopter/config.h

@@ -716,3 +716,11 @@
 #ifndef STATS_ENABLED
  # define STATS_ENABLED ENABLED
 #endif
+
+#ifndef DEVO_TELEM_ENABLED
+#if HAL_MINIMIZE_FEATURES
+ #define DEVO_TELEM_ENABLED DISABLED
+#else
+ #define DEVO_TELEM_ENABLED ENABLED
+#endif
+#endif

ArduCopter/make.inc

@@ -67,3 +67,4 @@ LIBRARIES += AP_SmartRTL
 LIBRARIES += AP_Winch
 LIBRARIES += AP_WheelEncoder
 LIBRARIES += AP_Follow
+LIBRARIES += AP_Devo_Telem

ArduCopter/mode.cpp

@@ -225,6 +225,10 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
 #if FRSKY_TELEM_ENABLED == ENABLED
     frsky_telemetry.update_control_mode(control_mode);
 #endif
+#if DEVO_TELEM_ENABLED == ENABLED
+    devo_telemetry.update_control_mode(control_mode);
+#endif
+
 #if CAMERA == ENABLED
     camera.set_is_auto_mode(control_mode == AUTO);
 #endif

ArduCopter/system.cpp

@@ -106,6 +106,11 @@ void Copter::init_ardupilot()
                          &ap.value);
 #endif
 
+#if DEVO_TELEM_ENABLED == ENABLED
+    // setup devo
+    devo_telemetry.init(serial_manager);
+#endif
+
 #if LOGGING_ENABLED == ENABLED
     log_init();
 #endif

ArduCopter/wscript

@@ -35,6 +35,7 @@ def build(bld):
             'AP_WheelEncoder',
             'AP_Winch',
             'AP_Follow',
+            'AP_Devo_Telem',
         ],
     )