AntennaTracker: move logger object up to AP_Vehicle

AntennaTracker/Log.cpp

@@ -87,15 +87,15 @@ const struct LogStructure Tracker::log_structure[] = {
        "VPOS", "QLLefff", "TimeUS,Lat,Lng,Alt,VelX,VelY,VelZ", "sddmnnn", "FGGB000", true }
 };
 
+uint8_t Tracker::get_num_log_structures() const
+{
+    return ARRAY_SIZE(log_structure);
+}
+
 void Tracker::Log_Write_Vehicle_Startup_Messages()
 {
     logger.Write_Mode((uint8_t)mode->number(), ModeReason::INITIALISED);
     gps.Write_AP_Logger_Log_Startup_messages();
 }
 
-void Tracker::log_init(void)
-{
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-}
-
 #endif // HAL_LOGGING_ENABLED

AntennaTracker/Parameters.cpp

@@ -566,12 +566,6 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
     PARAM_VEHICLE_INFO,
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
 #if HAL_NAVEKF2_AVAILABLE
     // @Group: EK2_
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -618,6 +612,11 @@ void Tracker::load_parameters(void)
     AP_Param::convert_class(g.k_param_scripting_old, &scripting, scripting.var_info, 0, 0, true);
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Tracker-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.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/Tracker.cpp

@@ -164,13 +164,6 @@ void Tracker::stats_update(void)
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-Tracker::Tracker(void)
-#if HAL_LOGGING_ENABLED
-    : logger(g.log_bitmask)
-#endif
-{
-}
-
 Tracker tracker;
 AP_Vehicle& vehicle = tracker;
 

AntennaTracker/Tracker.h

@@ -64,8 +64,6 @@ public:
     friend class ModeGuided;
     friend class Mode;
 
-    Tracker(void);
-
     void arm_servos();
     void disarm_servos();
 
@@ -74,10 +72,6 @@ private:
 
     uint32_t start_time_ms = 0;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     /**
        antenna control channels
     */
@@ -160,12 +154,20 @@ private:
     // GCS_Mavlink.cpp
     void send_nav_controller_output(mavlink_channel_t chan);
 
+#if HAL_LOGGING_ENABLED
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
     // Log.cpp
     void Log_Write_Attitude();
     void Log_Write_Vehicle_Baro(float pressure, float altitude);
     void Log_Write_Vehicle_Pos(int32_t lat,int32_t lng,int32_t alt, const Vector3f& vel);
     void Log_Write_Vehicle_Startup_Messages();
-    void log_init(void);
+#endif
 
     // Parameters.cpp
     void load_parameters(void) override;

AntennaTracker/system.cpp

@@ -24,10 +24,6 @@ void Tracker::init_ardupilot()
     // try to initialise stream rates in the main loop.
     gcs().update_send();
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     // initialise compass
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();