Plane: move AP_Stats to AP_vehicle

ArduPlane/ArduPlane.cpp

@@ -132,9 +132,6 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button, &plane.button, update, 5, 100, 150),
 #endif
-#if STATS_ENABLED == ENABLED
-    SCHED_TASK_CLASS(AP_Stats, &plane.g2.stats, update, 1, 100, 153),
-#endif
 #if AP_GRIPPER_ENABLED
     SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75, 156),
 #endif

ArduPlane/Parameters.cpp

@@ -1032,11 +1032,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Values: 0:NotEnforced,1:Enforced
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 4, ParametersG2, sysid_enforce, 0),
-#if STATS_ENABLED == ENABLED
-    // @Group: STAT
-    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
-    AP_SUBGROUPINFO(stats, "STAT", 5, ParametersG2, AP_Stats),
-#endif
 
     // @Group: SERVO
     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
@@ -1557,5 +1552,20 @@ void Plane::load_parameters(void)
 
     landing.convert_parameters();
 
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-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 = 5;       // Old parameter index in g2
+        const uint16_t old_top_element = 4037; // 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));
 }

ArduPlane/Parameters.h

@@ -484,11 +484,6 @@ public:
     AP_Button *button_ptr;
 #endif
 
-#if STATS_ENABLED == ENABLED
-    // vehicle statistics
-    AP_Stats stats;
-#endif
-
 #if AP_ICENGINE_ENABLED
     // internal combustion engine control
     AP_ICEngine ice_control;

ArduPlane/Plane.h

@@ -44,7 +44,6 @@
 #include <AP_Camera/AP_Camera.h>          // Photo or video camera
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_RPM/AP_RPM.h>
-#include <AP_Stats/AP_Stats.h>     // statistics library
 #include <AP_Beacon/AP_Beacon.h>
 
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>

ArduPlane/config.h

@@ -219,10 +219,6 @@
 #define PARACHUTE HAL_PARACHUTE_ENABLED
 #endif
 
-#ifndef STATS_ENABLED
- # define STATS_ENABLED ENABLED
-#endif
-
 #ifndef OSD_ENABLED
  #define OSD_ENABLED DISABLED
 #endif

ArduPlane/is_flying.cpp

@@ -1,5 +1,7 @@
 #include "Plane.h"
 
+#include <AP_Stats/AP_Stats.h>     // statistics library
+
 /*
   is_flying and crash detection logic
  */
@@ -163,8 +165,8 @@ void Plane::update_is_flying_5Hz(void)
 #if PARACHUTE == ENABLED
     parachute.set_is_flying(new_is_flying);
 #endif
-#if STATS_ENABLED == ENABLED
-    g2.stats.set_flying(new_is_flying);
+#if AP_STATS_ENABLED
+    AP::stats()->set_flying(new_is_flying);
 #endif
     AP_Notify::flags.flying = new_is_flying;
 

ArduPlane/system.cpp

@@ -17,11 +17,6 @@ static void failsafe_check_static()
 void Plane::init_ardupilot()
 {
 
-#if STATS_ENABLED == ENABLED
-    // initialise stats module
-    g2.stats.init();
-#endif
-
     ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
 
     // setup any board specific drivers