From adcc309f15865e392514783e7a9a0908572e77dd Mon Sep 17 00:00:00 2001
From: night-ghost <night_ghost@ykoctpa.ru>
Date: Wed, 28 Feb 2018 17:20:57 +0500
Subject: [PATCH] Copter: allow AP_Stats to be optional

---
 ArduCopter/ArduCopter.cpp    | 2 ++
 ArduCopter/Parameters.cpp    | 4 ++--
 ArduCopter/Parameters.h      | 2 ++
 ArduCopter/config.h          | 5 ++++-
 ArduCopter/land_detector.cpp | 2 ++
 ArduCopter/system.cpp        | 2 ++
 6 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index ac46d39f14..6c17a8b4ba 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/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
 };
 
 
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index b2ea4bc8e8..02859d5f8c 100644
--- a/ArduCopter/Parameters.cpp
+++ b/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
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 078fa7859e..f63f6e31cb 100644
--- a/ArduCopter/Parameters.h
+++ b/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;
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index fa1cd38e1d..45bdec11e2 100644
--- a/ArduCopter/config.h
+++ b/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
diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
index 7866e3aaa2..7b9ed92d72 100644
--- a/ArduCopter/land_detector.cpp
+++ b/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);
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 3a06fc49aa..8218b4848c 100644
--- a/ArduCopter/system.cpp
+++ 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);