Rover: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer

Rover/Parameters.cpp

@@ -1,5 +1,7 @@
 #include "Rover.h"
 
+#include <AP_Gripper/AP_Gripper.h>
+
 /*
   Rover parameter definitions
 */
@@ -580,11 +582,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("MIS_DONE_BEHAVE", 38, ParametersG2, mis_done_behave, 0),
 
-#if AP_GRIPPER_ENABLED
-    // @Group: GRIP_
-    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
-    AP_SUBGROUPINFO(gripper, "GRIP_", 39, ParametersG2, AP_Gripper),
-#endif
+    // 39 was AP_Gripper
 
     // @Param: BAL_PITCH_TRIM
     // @DisplayName: Balance Bot pitch trim angle
@@ -923,6 +921,21 @@ void Rover::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if AP_GRIPPER_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo gripper_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, gripper_info.old_key)) {
+            return;
+        }
+
+        const uint16_t gripper_old_index = 39;       // Old parameter index in g2
+        const uint16_t gripper_old_top_element = 4071; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(gripper_info.old_key, &gripper, gripper.var_info, gripper_old_index, gripper_old_top_element, false);
+    }
+#endif
+
     // PARAMETER_CONVERSION - Added: Feb-2024 for Rover-4.6
 #if HAL_LOGGING_ENABLED
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);

Rover/Parameters.h

@@ -8,7 +8,6 @@
 #include <AP_AIS/AP_AIS.h>
 #include <AP_Beacon/AP_Beacon.h>
 #include <AP_Follow/AP_Follow.h>
-#include "AP_Gripper/AP_Gripper.h"
 #include <AP_Proximity/AP_Proximity.h>
 #include "AP_Rally.h"
 #include <AP_SmartRTL/AP_SmartRTL.h>
@@ -372,10 +371,6 @@ public:
     AC_Sprayer sprayer;
 #endif
 
-#if AP_GRIPPER_ENABLED
-    AP_Gripper gripper;
-#endif
-
 #if HAL_RALLY_ENABLED
     // Rally point library
     AP_Rally_Rover rally;

Rover/Rover.cpp

@@ -35,8 +35,6 @@
 #include "version.h"
 #undef FORCE_VERSION_H_INCLUDE
 
-#include "AP_Gripper/AP_Gripper.h"
-
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 #define SCHED_TASK(func, _interval_ticks, _max_time_micros, _priority) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros, _priority)
@@ -101,9 +99,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #if AP_SERVORELAYEVENTS_ENABLED
     SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events,  50,  200,  66),
 #endif
-#if AP_GRIPPER_ENABLED
-    SCHED_TASK_CLASS(AP_Gripper,          &rover.g2.gripper,       update,         10,   75,  69),
-#endif
 #if AC_PRECLAND_ENABLED
     SCHED_TASK(update_precland,      400,     50,  70),
 #endif

Rover/system.cpp

@@ -14,11 +14,6 @@ static void failsafe_check_static()
 
 void Rover::init_ardupilot()
 {
-    // init gripper
-#if AP_GRIPPER_ENABLED
-    g2.gripper.init();
-#endif
-
     // initialise notify system
     notify.init();
     notify_mode(control_mode);