Tracker: move AP_Stats to AP_vehicle

AntennaTracker/Parameters.cpp

@@ -560,10 +560,6 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Standard
     GSCALAR(disarm_pwm,              "SAFE_DISARM_PWM",        0),
 
-    // @Group: STAT
-    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
-    GOBJECT(stats, "STAT",  AP_Stats),
-
     // @Param: AUTO_OPTIONS
     // @DisplayName: Auto mode options
     // @Description: 1: Scan for unknown target
@@ -617,6 +613,12 @@ void Tracker::load_parameters(void)
     uint32_t before = AP_HAL::micros();
     // Load all auto-loaded EEPROM variables
     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));
 
 #if HAL_HAVE_SAFETY_SWITCH

AntennaTracker/Parameters.h

@@ -114,7 +114,7 @@ public:
         k_param_rc_channels,
         k_param_servo_channels,
 
-        k_param_stats = 218,
+        k_param_stats_old = 218,
         k_param_scripting = 219,
 
         //

AntennaTracker/Tracker.cpp

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

AntennaTracker/Tracker.h

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

AntennaTracker/system.cpp

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