From 7d319f8059a8edf09debaf6fbf4f48b97480c6ff Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 27 Nov 2020 17:21:12 +0900
Subject: [PATCH] AP_DAL: add wheelencoder_enabled

---
 libraries/AP_DAL/AP_DAL.cpp     | 2 ++
 libraries/AP_DAL/AP_DAL.h       | 4 ++++
 libraries/AP_DAL/LogStructure.h | 1 +
 3 files changed, 7 insertions(+)

diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp
index 638835a768..c074e5d57a 100644
--- a/libraries/AP_DAL/AP_DAL.cpp
+++ b/libraries/AP_DAL/AP_DAL.cpp
@@ -5,6 +5,7 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
+#include <AP_WheelEncoder/AP_WheelEncoder.h>
 
 #if APM_BUILD_TYPE(APM_BUILD_Replay)
 #include <AP_NavEKF2/AP_NavEKF2.h>
@@ -65,6 +66,7 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
     _RFRN.available_memory = hal.util->available_memory();
     _RFRN.ahrs_trim = ahrs.get_trim();
     _RFRN.opticalflow_enabled = AP::opticalflow() && AP::opticalflow()->enabled();
+    _RFRN.wheelencoder_enabled = AP::wheelencoder() && (AP::wheelencoder()->num_sensors() > 0);
     WRITE_REPLAY_BLOCK_IFCHANGED(RFRN, _RFRN, old);
 
     // update body conversion
diff --git a/libraries/AP_DAL/AP_DAL.h b/libraries/AP_DAL/AP_DAL.h
index e3bd452f5d..780dfa6937 100644
--- a/libraries/AP_DAL/AP_DAL.h
+++ b/libraries/AP_DAL/AP_DAL.h
@@ -192,6 +192,10 @@ public:
         return _RFRN.opticalflow_enabled;
     }
 
+    bool wheelencoder_enabled(void) const {
+        return _RFRN.wheelencoder_enabled;
+    }
+
     // log optical flow data
     void writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset);
 
diff --git a/libraries/AP_DAL/LogStructure.h b/libraries/AP_DAL/LogStructure.h
index 01d8821030..6f60628ac3 100644
--- a/libraries/AP_DAL/LogStructure.h
+++ b/libraries/AP_DAL/LogStructure.h
@@ -66,6 +66,7 @@ struct log_RFRN {
     uint8_t fly_forward:1;
     uint8_t ahrs_airspeed_sensor_enabled:1;
     uint8_t opticalflow_enabled:1;
+    uint8_t wheelencoder_enabled:1;
     uint8_t _end;
 };