Rover: add ADSB message stream and send oadb objects

APMrover2/GCS_Mavlink.cpp

@@ -332,6 +332,18 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
         rover.g2.windvane.send_wind(chan);
         break;
 
+    case MSG_ADSB_VEHICLE: {
+        AP_OADatabase *oadb = AP::oadatabase();
+        if (oadb != nullptr) {
+            CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
+            uint16_t interval_ms = 0;
+            if (get_ap_message_interval(id, interval_ms)) {
+                oadb->send_adsb_vehicle(chan, interval_ms);
+            }
+        }
+        break;
+    }
+
     default:
         return GCS_MAVLINK::try_send_message(id);
     }
@@ -429,6 +441,16 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Increment: 1
     // @User: Advanced
     AP_GROUPINFO("PARAMS",   8, GCS_MAVLINK, streamRates[8],  10),
+
+    // @Param: ADSB
+    // @DisplayName: ADSB stream rate to ground station
+    // @Description: ADSB stream rate to ground station
+    // @Units: Hz
+    // @Range: 0 50
+    // @Increment: 1
+    // @User: Advanced
+    AP_GROUPINFO("ADSB",   9, GCS_MAVLINK, streamRates[9],  0),
+
     AP_GROUPEND
 };
 
@@ -497,6 +519,9 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 static const ap_message STREAM_PARAMS_msgs[] = {
     MSG_NEXT_PARAM
 };
+static const ap_message STREAM_ADSB_msgs[] = {
+    MSG_ADSB_VEHICLE
+};
 
 const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
     MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
@@ -507,6 +532,7 @@ const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
     MAV_STREAM_ENTRY(STREAM_EXTRA1),
     MAV_STREAM_ENTRY(STREAM_EXTRA2),
     MAV_STREAM_ENTRY(STREAM_EXTRA3),
+    MAV_STREAM_ENTRY(STREAM_ADSB),
     MAV_STREAM_ENTRY(STREAM_PARAMS),
     MAV_STREAM_TERMINATOR // must have this at end of stream_entries
 };