added OpalLink to core. protected with ifdef OPAL_RT

qgroundcontrol.pro

@@ -213,7 +213,7 @@ RESOURCES = mavground.qrc
 # Include RT-LAB Library
 win32 {
     LIBS += C:\OPAL-RT\RT-LAB7.2.4\Common\lib\OpalApi.lib
-    INCLUDEPATH += C:\OPAL-RT\RT-LAB7.2.4\Common\Include
+    INCLUDEPATH += src/lib/opalrt
     SOURCES += src/comm/OpalLink.cc
     HEADERS += src/comm/OpalLink.h
     DEFINES += OPAL_RT

src/Core.cc

@@ -132,6 +132,11 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
         }
     }
 
+#ifdef OPAL_RT
+    // Add OpalRT Link, but do not connect
+    OpalLink* opalLink = new OpalLink();
+    mainWindow->addLink(opalLink);
+#endif
     // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
     MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
     mainWindow->addLink(simulationLink);

src/Core.h

@@ -39,7 +39,11 @@ This file is part of the PIXHAWK project
 #include "UASManager.h"
 #include "LinkManager.h"
 /*#include "ViconTarsusProtocol.h" */
+#ifdef OPAL_RT
 
+#include "OpalLink.h"
+
+#endif
 /**
  * @brief The main application and management class.
  *