AP_DAL: add wheelencoder_enabled

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

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);
 

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;
 };