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Tracker: move AP_Stats to AP_vehicle

This commit is contained in:
Peter Barker 2024-01-26 15:09:19 +11:00 committed by Andrew Tridgell
parent 2761a528f3
commit 3b1ec57f54
5 changed files with 8 additions and 13 deletions
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10
AntennaTracker/Parameters.cpp
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@ -560,10 +560,6 @@ const AP_Param::Info Tracker::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(disarm_pwm, "SAFE_DISARM_PWM", 0), GSCALAR(disarm_pwm, "SAFE_DISARM_PWM", 0),
// @Group: STAT
// @Path: ../libraries/AP_Stats/AP_Stats.cpp
GOBJECT(stats, "STAT", AP_Stats),
// @Param: AUTO_OPTIONS // @Param: AUTO_OPTIONS
// @DisplayName: Auto mode options // @DisplayName: Auto mode options
// @Description: 1: Scan for unknown target // @Description: 1: Scan for unknown target
@ -617,6 +613,12 @@ void Tracker::load_parameters(void)
uint32_t before = AP_HAL::micros(); uint32_t before = AP_HAL::micros();
// Load all auto-loaded EEPROM variables // Load all auto-loaded EEPROM variables
AP_Param::load_all(); AP_Param::load_all();
#if AP_STATS_ENABLED
// PARAMETER_CONVERSION - Added: Jan-2024
AP_Param::convert_class(g.k_param_stats_old, &stats, stats.var_info, 0, 0, true);
#endif
hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before)); hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before));
#if HAL_HAVE_SAFETY_SWITCH #if HAL_HAVE_SAFETY_SWITCH

2
AntennaTracker/Parameters.h
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@ -114,7 +114,7 @@ public:
k_param_rc_channels, k_param_rc_channels,
k_param_servo_channels, k_param_servo_channels,
k_param_stats = 218, k_param_stats_old = 218,
k_param_scripting = 219, k_param_scripting = 219,
// //

3
AntennaTracker/Tracker.cpp
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@ -159,8 +159,7 @@ Mode *Tracker::mode_from_mode_num(const Mode::Number num)
*/ */
void Tracker::stats_update(void) void Tracker::stats_update(void)
{ {
stats.set_flying(hal.util->get_soft_armed()); AP::stats()->set_flying(hal.util->get_soft_armed());
stats.update();
} }
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); const AP_HAL::HAL& hal = AP_HAL::get_HAL();

3
AntennaTracker/Tracker.h
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@ -40,7 +40,6 @@
#include <SRV_Channel/SRV_Channel.h> #include <SRV_Channel/SRV_Channel.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Mission/AP_Mission.h> #include <AP_Mission/AP_Mission.h>
#include <AP_Stats/AP_Stats.h> // statistics library
#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library #include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
// Configuration // Configuration
@ -98,8 +97,6 @@ private:
GCS_Tracker _gcs; // avoid using this; use gcs() GCS_Tracker _gcs; // avoid using this; use gcs()
GCS_Tracker &gcs() { return _gcs; } GCS_Tracker &gcs() { return _gcs; }
AP_Stats stats;
// Battery Sensors // Battery Sensors
AP_BattMonitor battery{MASK_LOG_CURRENT, AP_BattMonitor battery{MASK_LOG_CURRENT,
FUNCTOR_BIND_MEMBER(&Tracker::handle_battery_failsafe, void, const char*, const int8_t), FUNCTOR_BIND_MEMBER(&Tracker::handle_battery_failsafe, void, const char*, const int8_t),

3
AntennaTracker/system.cpp
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@ -5,9 +5,6 @@ static const StorageAccess wp_storage(StorageManager::StorageMission);
void Tracker::init_ardupilot() void Tracker::init_ardupilot()
{ {
// initialise stats module
stats.init();
BoardConfig.init(); BoardConfig.init();
#if HAL_MAX_CAN_PROTOCOL_DRIVERS #if HAL_MAX_CAN_PROTOCOL_DRIVERS
can_mgr.init(); can_mgr.init();