From 87b84ec196cd60975e2ea6fac068204cab29b08d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 16 Jan 2020 21:31:00 +1100
Subject: [PATCH] Sub: move setup method up to AP_Vehicle base class

---
 ArduSub/ArduSub.cpp | 18 ++++++++----------
 ArduSub/Sub.h       |  6 ++++--
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index f9beab9357..11cdbe49fe 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -80,19 +80,17 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
 #endif
 };
 
-constexpr int8_t Sub::_failsafe_priorities[5];
-
-void Sub::setup()
+void Sub::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                                 uint8_t &task_count,
+                                 uint32_t &log_bit)
 {
-    // Load the default values of variables listed in var_info[]s
-    AP_Param::setup_sketch_defaults();
-
-    init_ardupilot();
-
-    // initialise the main loop scheduler
-    scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), MASK_LOG_PM);
+    tasks = &scheduler_tasks[0];
+    task_count = ARRAY_SIZE(scheduler_tasks);
+    log_bit = MASK_LOG_PM;
 }
 
+constexpr int8_t Sub::_failsafe_priorities[5];
+
 void Sub::loop()
 {
     scheduler.loop();
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index aee01d584f..8d1ae593a8 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -132,7 +132,6 @@ public:
     Sub(void);
 
     // HAL::Callbacks implementation.
-    void setup() override;
     void loop() override;
 
 private:
@@ -573,7 +572,10 @@ private:
 #endif
     void terrain_update();
     void terrain_logging();
-    void init_ardupilot();
+    void init_ardupilot() override;
+    void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                             uint8_t &task_count,
+                             uint32_t &log_bit) override;
     void startup_INS_ground();
     bool position_ok();
     bool ekf_position_ok();