Sub: move many members up to base class

ArduSub/Sub.h

@@ -55,10 +55,8 @@
 #include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library
 #include <AC_AttitudeControl/AC_PosControl_Sub.h>      // Position control library
 #include <AP_Motors/AP_Motors.h>          // AP Motors library
-#include <AP_RangeFinder/AP_RangeFinder.h>     // Range finder library
 #include <Filter/Filter.h>             // Filter library
 #include <AP_Relay/AP_Relay.h>           // APM relay
-#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
 #include <AP_Mount/AP_Mount.h>           // Camera/Antenna mount
 #include <AP_Vehicle/AP_Vehicle.h>         // needed for AHRS build
 #include <AP_InertialNav/AP_InertialNav.h>     // ArduPilot Mega inertial navigation library
@@ -70,8 +68,6 @@
 #include <AP_Scheduler/PerfInfo.h>       // loop perf monitoring
 #include <AP_Notify/AP_Notify.h>          // Notify library
 #include <AP_BattMonitor/AP_BattMonitor.h>     // Battery monitor library
-#include <AP_BoardConfig/AP_BoardConfig.h>     // board configuration library
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_JSButton/AP_JSButton.h>   // Joystick/gamepad button function assignment
 #include <AP_LeakDetector/AP_LeakDetector.h> // Leak detector
@@ -156,9 +152,6 @@ private:
     // main loop scheduler
     AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&Sub::fast_loop, void)};
 
-    // AP_Notify instance
-    AP_Notify notify;
-
     // primary input control channels
     RC_Channel *channel_roll;
     RC_Channel *channel_pitch;
@@ -169,16 +162,10 @@ private:
 
     AP_Logger logger;
 
-    AP_GPS gps;
-
     AP_LeakDetector leak_detector;
 
     TSYS01 celsius;
-    AP_Baro barometer;
-    Compass compass;
-    AP_InertialSensor ins;
 
-    RangeFinder rangefinder;
     struct {
         bool enabled:1;
         bool alt_healthy:1; // true if we can trust the altitude from the rangefinder
@@ -214,8 +201,6 @@ private:
     // system time in milliseconds of last recorded yaw reset from ekf
     uint32_t ekfYawReset_ms = 0;
 
-    AP_SerialManager serial_manager;
-
     // GCS selection
     GCS_Sub _gcs; // avoid using this; use gcs()
     GCS_Sub &gcs() { return _gcs; }
@@ -254,14 +239,6 @@ private:
     RCMapper rcmap;
 #endif
 
-    // board specific config
-    AP_BoardConfig BoardConfig;
-
-#if HAL_WITH_UAVCAN
-    // board specific config for CAN bus
-    AP_BoardConfig_CAN BoardConfig_CAN;
-#endif
-
     // Failsafe
     struct {
         uint32_t last_leak_warn_ms;      // last time a leak warning was sent to gcs
@@ -398,12 +375,6 @@ private:
     AC_Loiter loiter_nav;
     AC_Circle circle_nav;
 
-    // Reference to the relay object
-    AP_Relay relay;
-
-    // handle repeated servo and relay events
-    AP_ServoRelayEvents ServoRelayEvents;
-
     // Camera
 #if CAMERA == ENABLED
     AP_Camera camera{MASK_LOG_CAMERA, current_loc};

ArduSub/joystick.cpp

@@ -139,10 +139,10 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
     z_last = z;
 }
 
-void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
+void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
 {
     // Act based on the function assigned to this button
-    switch (get_button(button)->function(shift)) {
+    switch (get_button(_button)->function(shift)) {
     case JSButton::button_function_t::k_arm_toggle:
         if (motors.armed()) {
             arming.disarm();
@@ -586,10 +586,10 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
     }
 }
 
-void Sub::handle_jsbutton_release(uint8_t button, bool shift) {
+void Sub::handle_jsbutton_release(uint8_t _button, bool shift) {
 
     // Act based on the function assigned to this button
-    switch (get_button(button)->function(shift)) {
+    switch (get_button(_button)->function(shift)) {
     case JSButton::button_function_t::k_relay_1_momentary:
         relay.off(0);
         break;