Blimp: move AP_Stats to AP_vehicle

Blimp/Blimp.cpp

@@ -95,9 +95,6 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
 #if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Scheduler,         &blimp.scheduler,           update_logging, 0.1,  75,  69),
 #endif
-#if STATS_ENABLED == ENABLED
-    SCHED_TASK_CLASS(AP_Stats,             &blimp.g2.stats,            update,           1, 100,  75),
-#endif
 };
 
 void Blimp::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,

Blimp/Blimp.h

@@ -39,7 +39,6 @@
 // #include <AP_AccelCal/AP_AccelCal.h>                // interface and maths for accelerometer calibration
 // #include <AP_InertialSensor/AP_InertialSensor.h>  // ArduPilot Mega Inertial Sensor (accel & gyro) Library
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Stats/AP_Stats.h>     // statistics library
 #include <Filter/Filter.h>             // Filter library
 #include <AP_Vehicle/AP_Vehicle.h>         // needed for AHRS build
 #include <AP_InertialNav/AP_InertialNav.h>     // inertial navigation library

Blimp/Parameters.cpp

@@ -780,12 +780,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
 
-#if STATS_ENABLED == ENABLED
-    // @Group: STAT
-    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
-    AP_SUBGROUPINFO(stats, "STAT", 12, ParametersG2, AP_Stats),
-#endif
-
     // @Param: FRAME_CLASS
     // @DisplayName: Frame Class
     // @Description: Controls major frame class for blimp.
@@ -874,6 +868,21 @@ void Blimp::load_parameters(void)
     // Load all auto-loaded EEPROM variables
     AP_Param::load_all();
 
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+#if AP_STATS_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 12;       // Old parameter index in g2
+        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
+    }
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     // setup AP_Param frame type flags

Blimp/Parameters.h

@@ -281,11 +281,6 @@ public:
     // altitude at which nav control can start in takeoff
     AP_Float wp_navalt_min;
 
-#if STATS_ENABLED == ENABLED
-    // vehicle statistics
-    AP_Stats stats;
-#endif
-
     // whether to enforce acceptance of packets only from sysid_my_gcs
     AP_Int8 sysid_enforce;
 

Blimp/config.h

@@ -134,10 +134,6 @@
 # define CH_MODE_DEFAULT   5
 #endif
 
-#ifndef STATS_ENABLED
-# define STATS_ENABLED ENABLED
-#endif
-
 #ifndef HAL_FRAME_TYPE_DEFAULT
 #define HAL_FRAME_TYPE_DEFAULT Fins::MOTOR_FRAME_TYPE_AIRFISH
 #endif

Blimp/system.cpp

@@ -15,11 +15,6 @@ static void failsafe_check_static()
 void Blimp::init_ardupilot()
 {
 
-#if STATS_ENABLED == ENABLED
-    // initialise stats module
-    g2.stats.init();
-#endif
-
     BoardConfig.init();