Rover: allow AP_Stats to be optional

APMrover2/APMrover2.cpp

@@ -87,7 +87,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_InertialSensor,   &rover.ins,              periodic,       50,   50),
     SCHED_TASK_CLASS(AP_Scheduler,        &rover.scheduler,        update_logging, 0.1,  75),
     SCHED_TASK_CLASS(AP_Button,           &rover.button,           update,          5,  100),
+#if STATS_ENABLED == ENABLED
     SCHED_TASK(stats_update,            1,    100),
+#endif
     SCHED_TASK(crash_check,            10,   1000),
     SCHED_TASK(cruise_learn_update,    50,     50),
 #if ADVANCED_FAILSAFE == ENABLED
@@ -95,6 +97,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #endif
 };
 
+#if STATS_ENABLED == ENABLED
 /*
   update AP_Stats
 */
@@ -103,6 +106,7 @@ void Rover::stats_update(void)
     g2.stats.set_flying(motor_active());
     g2.stats.update();
 }
+#endif
 
 /*
   setup is called when the sketch starts

APMrover2/Parameters.cpp

@@ -450,10 +450,11 @@ const AP_Param::Info Rover::var_info[] = {
   2nd group of parameters
  */
 const AP_Param::GroupInfo ParametersG2::var_info[] = {
+#if STATS_ENABLED == ENABLED
     // @Group: STAT
     // @Path: ../libraries/AP_Stats/AP_Stats.cpp
     AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
-
+#endif
     // @Param: SYSID_ENFORCE
     // @DisplayName: GCS sysid enforcement
     // @Description: This controls whether packets from other than the expected GCS system ID will be accepted

APMrover2/Parameters.h

@@ -284,8 +284,10 @@ public:
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
+#if STATS_ENABLED == ENABLED
     // vehicle statistics
     AP_Stats stats;
+#endif
 
     // whether to enforce acceptance of packets only from sysid_my_gcs
     AP_Int8 sysid_enforce;

APMrover2/config.h

@@ -166,3 +166,7 @@
 #ifndef ADVANCED_FAILSAFE
   #define ADVANCED_FAILSAFE DISABLED
 #endif
+
+#ifndef STATS_ENABLED
+ # define STATS_ENABLED ENABLED
+#endif

APMrover2/system.cpp

@@ -32,9 +32,10 @@ void Rover::init_ardupilot()
     //
 
     load_parameters();
-
+#if STATS_ENABLED == ENABLED
     // initialise stats module
     g2.stats.init();
+#endif
 
     gcs().set_dataflash(&DataFlash);