Copter: use AP_Stats to store statistics about vehicle

ArduCopter/Copter.h

@@ -60,6 +60,7 @@
 #include <AP_Motors/AP_Motors.h>          // AP Motors library
 #include <AP_RangeFinder/AP_RangeFinder.h>     // Range finder library
 #include <AP_Proximity/AP_Proximity.h>
+#include <AP_Stats/AP_Stats.h>     // statistics library
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
 #include <AP_RSSI/AP_RSSI.h>                   // RSSI Library
 #include <Filter/Filter.h>             // Filter library

ArduCopter/Parameters.cpp

@@ -1034,7 +1034,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Values: 0:NotEnforced,1:Enforced
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
-    
+
+    // @Group: STAT
+    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
+    AP_SUBGROUPINFO(stats, "STAT", 12, ParametersG2, AP_Stats),
+
     AP_GROUPEND
 };
 

ArduCopter/Parameters.h

@@ -550,6 +550,9 @@ public:
     // button checking
     AP_Button button;
 
+    // vehicle statistics
+    AP_Stats stats;
+
     // Throw mode parameters
     AP_Int8 throw_nextmode;
     AP_Int8 throw_type;

ArduCopter/make.inc

@@ -62,3 +62,4 @@ LIBRARIES += AC_InputManager
 LIBRARIES += AP_ADSB
 LIBRARIES += AP_Avoidance
 LIBRARIES += AP_Proximity
+LIBRARIES += AP_Stats

ArduCopter/system.cpp

@@ -108,6 +108,9 @@ void Copter::init_ardupilot()
     // load parameters from EEPROM
     load_parameters();
 
+    // initialise stats module
+    g2.stats.init();
+
     GCS_MAVLINK::set_dataflash(&DataFlash);
 
     // identify ourselves correctly with the ground station

ArduCopter/wscript

@@ -30,7 +30,8 @@ def build(bld):
             'AP_ServoRelayEvents',
             'AP_Avoidance',
             'AP_AdvancedFailsafe',
-            'AP_Proximity'
+            'AP_Proximity',
+            'AP_Stats',
         ],
     )