Plane: create generic vehicle management and move runcam to it

ArduPlane/Parameters.cpp

@@ -1094,6 +1094,10 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: mode_takeoff.cpp
     GOBJECT(mode_takeoff, "TKOFF_", ModeTakeoff),
 
+    // @Group:
+    // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
+    { AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&plane, {group_info : AP_Vehicle::var_info} },
+
     AP_VAREND
 };
 

ArduPlane/Parameters.h

@@ -345,6 +345,8 @@ public:
         k_param_logger = 253, // Logging Group
 
         // 254,255: reserved
+
+        k_param_vehicle = 257, // vehicle common block of parameters
     };
 
     AP_Int16 format_version;
@@ -568,7 +570,7 @@ public:
 #if EFI_ENABLED
     // EFI Engine Monitor
     AP_EFI efi;
-#endif  
+#endif
 };
 
 extern const AP_Param::Info var_info[];

ArduPlane/Plane.cpp

@@ -31,3 +31,4 @@ Plane::Plane(void)
 }
 
 Plane plane;
+AP_Vehicle& vehicle = plane;

ArduPlane/system.cpp

@@ -137,6 +137,9 @@ void Plane::init_ardupilot()
     camera_mount.init();
 #endif
 
+    // run all the vehicle initialization routines
+    init_vehicle();
+
 #if LANDING_GEAR_ENABLED == ENABLED
     // initialise landing gear position
     g2.landing_gear.init();