Plane: support for AP_Stats (flight time, bootcount, runtime)

ArduPlane/ArduPlane.cpp

@@ -82,8 +82,18 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(dataflash_periodic,     50,    400),
     SCHED_TASK(avoidance_adsb_update,  10,    100),
     SCHED_TASK(button_update,           5,    100),
+    SCHED_TASK(stats_update,            1,    100),
 };
 
+/*
+  update AP_Stats
+ */
+void Plane::stats_update(void)
+{
+    g2.stats.update();
+}
+
+
 void Plane::setup() 
 {
     cliSerial = hal.console;

ArduPlane/Parameters.cpp

@@ -1387,6 +1387,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 4, ParametersG2, sysid_enforce, 0),
 
+    // @Group: STAT
+    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
+    AP_SUBGROUPINFO(stats, "STAT", 5, ParametersG2, AP_Stats),
+
     AP_GROUPEND
 };
 

ArduPlane/Parameters.h

@@ -582,6 +582,9 @@ public:
     // button reporting library
     AP_Button button;
 
+    // vehicle statistics
+    AP_Stats stats;
+
     // internal combustion engine control
     AP_ICEngine ice_control;
 

ArduPlane/Plane.h

@@ -52,6 +52,7 @@
 #include <AP_Airspeed/AP_Airspeed.h>
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_RPM/AP_RPM.h>
+#include <AP_Stats/AP_Stats.h>     // statistics library
 
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 #include <APM_Control/APM_Control.h>
@@ -983,6 +984,7 @@ private:
     void read_receiver_rssi(void);
     void rpm_update(void);
     void button_update(void);
+    void stats_update();
     void ice_update(void);
     void report_radio();
     void report_ins();

ArduPlane/is_flying.cpp

@@ -156,6 +156,7 @@ void Plane::update_is_flying_5Hz(void)
 #if FRSKY_TELEM_ENABLED == ENABLED
     frsky_telemetry.set_is_flying(new_is_flying);
 #endif
+    g2.stats.set_flying(new_is_flying);
 
     crash_detection_update();
 

ArduPlane/make.inc

@@ -59,3 +59,4 @@ LIBRARIES += AC_Fence
 LIBRARIES += AC_Avoidance
 LIBRARIES += AP_Proximity
 LIBRARIES += AP_Tuning
+LIBRARIES += AP_Stats

ArduPlane/system.cpp

@@ -88,6 +88,9 @@ void Plane::init_ardupilot()
     //
     load_parameters();
 
+    // initialise stats module
+    g2.stats.init();
+
 #if HIL_SUPPORT
     if (g.hil_mode == 1) {
         // set sensors to HIL mode

ArduPlane/wscript

@@ -30,7 +30,8 @@ def build(bld):
             'AC_PID',
             'AC_Fence',
             'AC_Avoidance',
-            'AP_Proximity'
+            'AP_Proximity',
+            'AP_Stats',
         ],
     )