AP_Mount: add viewpro cpp driver

libraries/AP_Mount/AP_Mount.cpp

@@ -14,6 +14,7 @@
 #include "AP_Mount_Siyi.h"
 #include "AP_Mount_Scripting.h"
 #include "AP_Mount_Xacti.h"
+#include "AP_Mount_Viewpro.h"
 #include <stdio.h>
 #include <AP_Math/location.h>
 #include <SRV_Channel/SRV_Channel.h>
@@ -140,6 +141,14 @@ void AP_Mount::init()
             _num_instances++;
             break;
 #endif // HAL_MOUNT_XACTI_ENABLED
+
+#if HAL_MOUNT_VIEWPRO_ENABLED
+        // check for Xacti gimbal
+        case Type::Viewpro:
+            _backends[instance] = new AP_Mount_Viewpro(*this, _params[instance], instance);
+            _num_instances++;
+            break;
+#endif // HAL_MOUNT_VIEWPRO_ENABLED
         }
 
         // init new instance

libraries/AP_Mount/AP_Mount.h

@@ -45,6 +45,7 @@ class AP_Mount_Gremsy;
 class AP_Mount_Siyi;
 class AP_Mount_Scripting;
 class AP_Mount_Xacti;
+class AP_Mount_Viewpro;
 
 /*
   This is a workaround to allow the MAVLink backend access to the
@@ -64,6 +65,7 @@ class AP_Mount
     friend class AP_Mount_Siyi;
     friend class AP_Mount_Scripting;
     friend class AP_Mount_Xacti;
+    friend class AP_Mount_Viewpro;
 
 public:
     AP_Mount();
@@ -108,6 +110,9 @@ public:
 #endif
 #if HAL_MOUNT_XACTI_ENABLED
         Xacti = 10,          /// Xacti DroneCAN gimbal driver
+#endif
+#if HAL_MOUNT_VIEWPRO_ENABLED
+        Viewpro = 11,        /// Viewpro gimbal using a custom serial protocol
 #endif
     };
 

libraries/AP_Mount/AP_Mount_config.h

@@ -44,3 +44,7 @@
 #ifndef HAL_MOUNT_XACTI_ENABLED
 #define HAL_MOUNT_XACTI_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS
 #endif
+
+#ifndef HAL_MOUNT_VIEWPRO_ENABLED
+#define HAL_MOUNT_VIEWPRO_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED
+#endif