From ce352410e1e65be9765c1758a2d8dae0c42b1f7e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 21 Oct 2021 17:37:35 +1100
Subject: [PATCH] AP_Vehicle: move EFI to AP_Vehicle

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 15 +++++++++++++++
 libraries/AP_Vehicle/AP_Vehicle.h   |  6 ++++++
 2 files changed, 21 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index e3b34f628b..e804815022 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -61,6 +61,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(externalAHRS, "EAHRS", 8, AP_Vehicle, AP_ExternalAHRS),
 #endif
 
+#if HAL_EFI_ENABLED
+    // @Group: EFI
+    // @Path: ../AP_EFI/AP_EFI.cpp
+    AP_SUBGROUPINFO(efi, "EFI", 9, AP_Vehicle, AP_EFI),
+#endif
+
     AP_GROUPEND
 };
 
@@ -174,6 +180,12 @@ void AP_Vehicle::setup()
 #if HAL_GENERATOR_ENABLED
     generator.init();
 #endif
+
+// init EFI monitoring
+#if HAL_EFI_ENABLED
+    efi.init();
+#endif
+
     gcs().send_text(MAV_SEVERITY_INFO, "ArduPilot Ready");
 }
 
@@ -243,6 +255,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
     SCHED_TASK(publish_osd_info, 1, 10),
 #endif
     SCHED_TASK(accel_cal_update,      10,    100),
+#if HAL_EFI_ENABLED
+    SCHED_TASK_CLASS(AP_EFI,       &vehicle.efi,            update,                   10, 200),
+#endif
 };
 
 void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks)
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 017a6b5cba..22a3c7a624 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -25,6 +25,7 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>     // board configuration library
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_Button/AP_Button.h>
+#include <AP_EFI/AP_EFI.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Generator/AP_Generator.h>
 #include <AP_Logger/AP_Logger.h>
@@ -354,6 +355,11 @@ protected:
     AP_SmartAudio smartaudio;
 #endif
 
+#if HAL_EFI_ENABLED
+    // EFI Engine Monitor
+    AP_EFI efi;
+#endif
+
     static const struct AP_Param::GroupInfo var_info[];
     static const struct AP_Scheduler::Task scheduler_tasks[];