Copter: add support for AP_Generator

5 years ago · a679cd9b92
2 changed files with 7 additions and 0 deletions
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@ -181,6 +181,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
				@@ -181,6 +181,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if WINCH_ENABLED == ENABLED
    SCHED_TASK(winch_update,          10,     50),
 #endif
+#if GENERATOR_ENABLED
+    SCHED_TASK_CLASS(AP_Generator_RichenPower,     &copter.generator,      update,    10,     50),
+#endif
 #ifdef USERHOOK_FASTLOOP
    SCHED_TASK(userhook_FastLoop,    100,     75),
 #endif
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@ -53,6 +53,10 @@ void Copter::init_ardupilot()
				@@ -53,6 +53,10 @@ void Copter::init_ardupilot()
    // setup telem slots with serial ports
    gcs().setup_uarts();

+#if GENERATOR_ENABLED
+    generator.init();
+#endif
+
 #if OSD_ENABLED == ENABLED
    osd.init();
 #endif