Rover: remove shims used in scheduler table

APMrover2/APMrover2.cpp

@@ -52,8 +52,8 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK(update_GPS_50Hz,        50,   2500),
     SCHED_TASK(update_GPS_10Hz,        10,   2500),
     SCHED_TASK(update_alt,             10,   3400),
-    SCHED_TASK(update_beacon,          50,     50),
-    SCHED_TASK(update_proximity,       50,     50),
+    SCHED_TASK_CLASS(AP_Beacon,           &rover.g2.beacon,        update,         50,   50),
+    SCHED_TASK_CLASS(AP_Proximity,        &rover.g2.proximity,     update,         50,   50),
     SCHED_TASK(update_visual_odom,     50,     50),
     SCHED_TASK(update_wheel_encoder,   20,     50),
     SCHED_TASK(update_compass,         10,   2000),
@@ -65,23 +65,27 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK(gcs_data_stream_send,   50,   3000),
     SCHED_TASK(read_control_switch,     7,   1000),
     SCHED_TASK(read_aux_switch,        10,    100),
-    SCHED_TASK(read_battery,           10,   1000),
+    SCHED_TASK_CLASS(AP_BattMonitor,      &rover.battery,          read,           10, 1000),
     SCHED_TASK(read_receiver_rssi,     10,   1000),
-    SCHED_TASK(update_events,          50,   1000),
+    SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events,  50, 1000),
     SCHED_TASK(check_usb_mux,           3,   1000),
-    SCHED_TASK(mount_update,           50,    600),
-    SCHED_TASK(update_trigger,         50,    600),
+#if MOUNT == ENABLED
+    SCHED_TASK_CLASS(AP_Mount,            &rover.camera_mount,     update,         50,  600),
+#endif
+#if CAMERA == ENABLED
+    SCHED_TASK_CLASS(AP_Camera,           &rover.camera,           update_trigger, 50,  600),
+#endif
     SCHED_TASK(gcs_failsafe_check,     10,    600),
     SCHED_TASK(fence_check,            10,    100),
     SCHED_TASK(compass_accumulate,     50,    900),
-    SCHED_TASK(smart_rtl_update,        3,    100),
-    SCHED_TASK(update_notify,          50,    300),
+    SCHED_TASK_CLASS(ModeSmartRTL,        &rover.mode_smartrtl,    save_position,   3,  100),
+    SCHED_TASK_CLASS(AP_Notify,           &rover.notify,           update,         50,  300),
     SCHED_TASK(one_second_loop,         1,   3000),
     SCHED_TASK(compass_cal_update,     50,    100),
     SCHED_TASK(accel_cal_update,       10,    100),
-    SCHED_TASK(dataflash_periodic,     50,    300),
-    SCHED_TASK(ins_periodic,           50,     50),
-    SCHED_TASK(button_update,           5,    100),
+    SCHED_TASK_CLASS(DataFlash_Class,     &rover.DataFlash,        periodic_tasks, 50,  300),
+    SCHED_TASK_CLASS(AP_InertialSensor,   &rover.ins,              periodic,       50,   50),
+    SCHED_TASK_CLASS(AP_Button,           &rover.button,           update,          5,  100),
     SCHED_TASK(stats_update,            1,    100),
     SCHED_TASK(crash_check,            10,   1000),
     SCHED_TASK(cruise_learn_update,    50,     50),
@@ -193,26 +197,6 @@ void Rover::ahrs_update()
     }
 }
 
-/*
-  update camera mount - 50Hz
- */
-void Rover::mount_update(void)
-{
-#if MOUNT == ENABLED
-    camera_mount.update();
-#endif
-}
-
-/*
-  update camera trigger - 50Hz
- */
-void Rover::update_trigger(void)
-{
-#if CAMERA == ENABLED
-    camera.update_trigger();
-#endif
-}
-
 void Rover::update_alt()
 {
     barometer.update();
@@ -355,16 +339,6 @@ void Rover::one_second_loop(void)
     update_sensor_status_flags();
 }
 
-void Rover::dataflash_periodic(void)
-{
-    DataFlash.periodic_tasks();
-}
-
-void Rover::ins_periodic()
-{
-    ins.periodic();
-}
-
 void Rover::update_GPS_50Hz(void)
 {
     static uint32_t last_gps_reading[GPS_MAX_INSTANCES];

APMrover2/Rover.h

@@ -403,8 +403,6 @@ private:
     // APMrover2.cpp
     void stats_update();
     void ahrs_update();
-    void mount_update(void);
-    void update_trigger(void);
     void update_alt();
     void gcs_failsafe_check(void);
     void update_compass(void);
@@ -474,9 +472,6 @@ private:
     void cruise_learn_update();
     void cruise_learn_complete();
 
-    // events.cpp
-    void update_events(void);
-
     // failsafe.cpp
     void failsafe_trigger(uint8_t failsafe_type, bool on);
 #if ADVANCED_FAILSAFE == ENABLED
@@ -544,18 +539,14 @@ private:
     void init_barometer(bool full_calibration);
     void init_rangefinder(void);
     void init_beacon();
-    void update_beacon();
     void init_visual_odom();
     void update_visual_odom();
     void update_wheel_encoder();
-    void read_battery(void);
     void read_receiver_rssi(void);
     void compass_cal_update(void);
     void accel_cal_update(void);
     void read_rangefinders(void);
-    void button_update(void);
     void init_proximity();
-    void update_proximity();
     void update_sensor_status_flags(void);
 
     // Steering.cpp
@@ -569,7 +560,6 @@ private:
     bool set_mode(Mode &new_mode, mode_reason_t reason);
     bool mavlink_set_mode(uint8_t mode);
     void startup_INS_ground(void);
-    void update_notify();
     void resetPerfData(void);
     void check_usb_mux(void);
     void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
@@ -579,15 +569,12 @@ private:
     void change_arm_state(void);
     bool arm_motors(AP_Arming::ArmingMethod method);
     bool disarm_motors(void);
-    void smart_rtl_update();
     bool is_boat() const;
 
 public:
     void mavlink_delay_cb();
     void failsafe_check();
 
-    void dataflash_periodic(void);
-    void ins_periodic();
     void update_soft_armed();
     // Motor test
     void motor_test_output();

APMrover2/events.cpp

@@ -1,6 +0,0 @@
-#include "Rover.h"
-
-void Rover::update_events(void)
-{
-    ServoRelayEvents.update_events();
-}

APMrover2/sensors.cpp

@@ -61,12 +61,6 @@ void Rover::init_beacon()
     g2.beacon.init();
 }
 
-// update beacons
-void Rover::update_beacon()
-{
-    g2.beacon.update();
-}
-
 // init visual odometry sensor
 void Rover::init_visual_odom()
 {
@@ -162,13 +156,6 @@ void Rover::update_wheel_encoder()
     wheel_encoder_last_ekf_update_ms = now;
 }
 
-// read_battery - reads battery voltage and current and invokes failsafe
-// should be called at 10hz
-void Rover::read_battery(void)
-{
-    battery.read();
-}
-
 // read the receiver RSSI as an 8 bit number for MAVLink
 // RC_CHANNELS_SCALED message
 void Rover::read_receiver_rssi(void)
@@ -267,14 +254,6 @@ void Rover::read_rangefinders(void)
     }
 }
 
-/*
-  update AP_Button
- */
-void Rover::button_update(void)
-{
-    button.update();
-}
-
 // initialise proximity sensor
 void Rover::init_proximity(void)
 {
@@ -282,12 +261,6 @@ void Rover::init_proximity(void)
     g2.proximity.set_rangefinder(&rangefinder);
 }
 
-// update proximity sensor
-void Rover::update_proximity(void)
-{
-    g2.proximity.update();
-}
-
 // update error mask of sensors and subsystems. The mask
 // uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
 // then it indicates that the sensor or subsystem is present but

APMrover2/system.cpp

@@ -262,13 +262,6 @@ void Rover::startup_INS_ground(void)
     ahrs.reset();
 }
 
-// updates the notify state
-// should be called at 50hz
-void Rover::update_notify()
-{
-    notify.update();
-}
-
 void Rover::resetPerfData(void) {
     mainLoop_count = 0;
     G_Dt_max = 0;
@@ -365,12 +358,6 @@ bool Rover::disarm_motors(void)
     return true;
 }
 
-// save current position for use by the smart_rtl mode
-void Rover::smart_rtl_update()
-{
-    mode_smartrtl.save_position();
-}
-
 // returns true if vehicle is a boat
 // this affects whether the vehicle tries to maintain position after reaching waypoints
 bool Rover::is_boat() const