Copter: allow AP_Stats to be optional

ArduCopter/ArduCopter.cpp

@@ -176,7 +176,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(userhook_SuperSlowLoop, 1,   75),
 #endif
     SCHED_TASK_CLASS(AP_Button,            &copter.g2.button,           update,           5, 100),
+#if STATS_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Stats,             &copter.g2.stats,            update,           1, 100),
+#endif
 };
 
 

ArduCopter/Parameters.cpp

@@ -905,11 +905,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Values: 0:NotEnforced,1:Enforced
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
-
+#if STATS_ENABLED == ENABLED
     // @Group: STAT
     // @Path: ../libraries/AP_Stats/AP_Stats.cpp
     AP_SUBGROUPINFO(stats, "STAT", 12, ParametersG2, AP_Stats),
-
+#endif
 #if GRIPPER_ENABLED == ENABLED
 	// @Group: GRIP_
     // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp

ArduCopter/Parameters.h

@@ -498,8 +498,10 @@ public:
     // button checking
     AP_Button button;
 
+#if STATS_ENABLED == ENABLED
     // vehicle statistics
     AP_Stats stats;
+#endif
 
 #if GRIPPER_ENABLED
     AP_Gripper gripper;

ArduCopter/config.h

@@ -693,7 +693,10 @@
 #define TOY_MODE_ENABLED DISABLED
 #endif
 
-
 #if TOY_MODE_ENABLED && FRAME_CONFIG == HELI_FRAME
   #error Toy mode is not available on Helicopters
 #endif
+
+#ifndef STATS_ENABLED
+ # define STATS_ENABLED ENABLED
+#endif

ArduCopter/land_detector.cpp

@@ -104,7 +104,9 @@ void Copter::set_land_complete(bool b)
     }
     ap.land_complete = b;
 
+#if STATS_ENABLED == ENABLED
     g2.stats.set_flying(!b);
+#endif
 
     // tell AHRS flying state
     ahrs.set_likely_flying(!b);

ArduCopter/system.cpp

@@ -52,8 +52,10 @@ void Copter::init_ardupilot()
     // actual loop rate
     G_Dt = 1.0 / scheduler.get_loop_rate_hz();
 
+#if STATS_ENABLED == ENABLED
     // initialise stats module
     g2.stats.init();
+#endif
 
     gcs().set_dataflash(&DataFlash);