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Rover: allow AP_Stats to be optional

This commit is contained in:
night-ghost 2018-02-28 17:23:09 +05:00 committed by Andrew Tridgell
parent 98b8a61ca8
commit bab54ea647
5 changed files with 14 additions and 2 deletions
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4
APMrover2/APMrover2.cpp
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@ -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_InertialSensor, &rover.ins, periodic, 50, 50),
SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 75), SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 75),
SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 100), SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 100),
#if STATS_ENABLED == ENABLED
SCHED_TASK(stats_update, 1, 100), SCHED_TASK(stats_update, 1, 100),
#endif
SCHED_TASK(crash_check, 10, 1000), SCHED_TASK(crash_check, 10, 1000),
SCHED_TASK(cruise_learn_update, 50, 50), SCHED_TASK(cruise_learn_update, 50, 50),
#if ADVANCED_FAILSAFE == ENABLED #if ADVANCED_FAILSAFE == ENABLED
@ -95,6 +97,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
#endif #endif
}; };
#if STATS_ENABLED == ENABLED
/* /*
update AP_Stats update AP_Stats
*/ */
@ -103,6 +106,7 @@ void Rover::stats_update(void)
g2.stats.set_flying(motor_active()); g2.stats.set_flying(motor_active());
g2.stats.update(); g2.stats.update();
} }
#endif
/* /*
setup is called when the sketch starts setup is called when the sketch starts

3
APMrover2/Parameters.cpp
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@ -450,10 +450,11 @@ const AP_Param::Info Rover::var_info[] = {
2nd group of parameters 2nd group of parameters
*/ */
const AP_Param::GroupInfo ParametersG2::var_info[] = { const AP_Param::GroupInfo ParametersG2::var_info[] = {
#if STATS_ENABLED == ENABLED
// @Group: STAT // @Group: STAT
// @Path: ../libraries/AP_Stats/AP_Stats.cpp // @Path: ../libraries/AP_Stats/AP_Stats.cpp
AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats), AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
#endif
// @Param: SYSID_ENFORCE // @Param: SYSID_ENFORCE
// @DisplayName: GCS sysid enforcement // @DisplayName: GCS sysid enforcement
// @Description: This controls whether packets from other than the expected GCS system ID will be accepted // @Description: This controls whether packets from other than the expected GCS system ID will be accepted

2
APMrover2/Parameters.h
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@ -284,8 +284,10 @@ public:
// var_info for holding Parameter information // var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
#if STATS_ENABLED == ENABLED
// vehicle statistics // vehicle statistics
AP_Stats stats; AP_Stats stats;
#endif
// whether to enforce acceptance of packets only from sysid_my_gcs // whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce; AP_Int8 sysid_enforce;

4
APMrover2/config.h
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@ -166,3 +166,7 @@
#ifndef ADVANCED_FAILSAFE #ifndef ADVANCED_FAILSAFE
#define ADVANCED_FAILSAFE DISABLED #define ADVANCED_FAILSAFE DISABLED
#endif #endif
#ifndef STATS_ENABLED
# define STATS_ENABLED ENABLED
#endif

3
APMrover2/system.cpp
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@ -32,9 +32,10 @@ void Rover::init_ardupilot()
// //
load_parameters(); load_parameters();
#if STATS_ENABLED == ENABLED
// initialise stats module // initialise stats module
g2.stats.init(); g2.stats.init();
#endif
gcs().set_dataflash(&DataFlash); gcs().set_dataflash(&DataFlash);