SRV_Channel: support SBusOut

libraries/AP_SBusOut/AP_SBusOut.cpp

@@ -152,7 +152,7 @@ void AP_SBusOut::init() {
     uint16_t rate = sbus_rate.get();
 
 #if SBUS_DEBUG
-    ::printf("AP_SBusOut: init %d Hz\n", rate);
+    hal.console->printf("AP_SBusOut: init %d Hz\n", rate);
 #endif
 
     // subtract 500msec from requested frame interval to allow for latency

libraries/SRV_Channel/SRV_Channel.h

@@ -18,6 +18,7 @@
 #include <AP_RCMapper/AP_RCMapper.h>
 #include <AP_Common/Bitmask.h>
 #include <AP_Volz_Protocol/AP_Volz_Protocol.h>
+#include <AP_SBusOut/AP_SBusOut.h>
 
 #define NUM_SERVO_CHANNELS 16
 
@@ -440,6 +441,10 @@ private:
     AP_Volz_Protocol volz = AP_Volz_Protocol::create();
     static AP_Volz_Protocol *volz_ptr;
 
+    // support for SBUS protocol
+    AP_SBusOut sbus = AP_SBusOut::create();
+    static AP_SBusOut *sbus_ptr;
+
     SRV_Channel obj_channels[NUM_SERVO_CHANNELS];
 
     static struct srv_function {

libraries/SRV_Channel/SRV_Channels.cpp

@@ -27,6 +27,7 @@ extern const AP_HAL::HAL& hal;
 SRV_Channel *SRV_Channels::channels;
 SRV_Channels *SRV_Channels::instance;
 AP_Volz_Protocol *SRV_Channels::volz_ptr;
+AP_SBusOut *SRV_Channels::sbus_ptr;
 
 bool SRV_Channels::disabled_passthrough;
 bool SRV_Channels::initialised;
@@ -117,6 +118,10 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
     // @Path: ../AP_Volz_Protocol/AP_Volz_Protocol.cpp
     AP_SUBGROUPINFO(volz, "_VOLZ_",  19, SRV_Channels, AP_Volz_Protocol),
 
+    // @Group: SBUS_
+    // @Path: ../AP_SBusOut/AP_SBusOut.cpp
+    AP_SUBGROUPINFO(sbus, "_SBUS_",  20, SRV_Channels, AP_SBusOut),
+
     AP_GROUPEND
 };
 
@@ -137,6 +142,7 @@ SRV_Channels::SRV_Channels(void)
     }
 
     volz_ptr = &volz;
+    sbus_ptr = &sbus;
 }
 
 /*
@@ -201,4 +207,7 @@ void SRV_Channels::push()
 
     // give volz library a chance to update
     volz_ptr->update();
+
+    // give sbus library a chance to update
+    sbus_ptr->update();
 }