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Rover: move AP_Stats to AP_vehicle

This commit is contained in:
Peter Barker 2024-01-26 14:24:25 +11:00 committed by Andrew Tridgell
parent 81231997ff
commit e4cf674891
5 changed files with 18 additions and 25 deletions
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21
Rover/Parameters.cpp
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@ -404,11 +404,6 @@ const AP_Param::Info Rover::var_info[] = {
2nd group of parameters
*/
const AP_Param::GroupInfo ParametersG2::var_info[] = {
#if STATS_ENABLED == ENABLED
// @Group: STAT
// @Path: ../libraries/AP_Stats/AP_Stats.cpp
AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
#endif
// @Param: SYSID_ENFORCE
// @DisplayName: GCS sysid enforcement
// @Description: This controls whether packets from other than the expected GCS system ID will be accepted
@ -921,4 +916,20 @@ void Rover::load_parameters(void)
#if AP_FENCE_ENABLED
AP_Param::convert_class(info.old_key, &fence, fence.var_info, 17, 4049, false);
#endif
// PARAMETER_CONVERSION - Added: Jan-2024 for Rover-4.6
#if AP_STATS_ENABLED
{
// Find G2's Top Level Key
AP_Param::ConversionInfo stats_info;
if (!AP_Param::find_top_level_key_by_pointer(&g2, stats_info.old_key)) {
return;
}
const uint16_t stats_old_index = 1; // Old parameter index in g2
const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
}
#endif
}

5
Rover/Parameters.h
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@ -293,11 +293,6 @@ public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
#if STATS_ENABLED == ENABLED
// vehicle statistics
AP_Stats stats;
#endif
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;

8
Rover/Rover.cpp
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@ -134,9 +134,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
#endif
#if HAL_BUTTON_ENABLED
SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 200, 117),
#endif
#if STATS_ENABLED == ENABLED
SCHED_TASK(stats_update, 1, 200, 120),
#endif
SCHED_TASK(crash_check, 10, 200, 123),
SCHED_TASK(cruise_learn_update, 50, 200, 126),
@ -302,14 +299,13 @@ void Rover::nav_script_time_done(uint16_t id)
}
#endif // AP_SCRIPTING_ENABLED
#if STATS_ENABLED == ENABLED
#if AP_STATS_ENABLED
/*
update AP_Stats
*/
void Rover::stats_update(void)
{
g2.stats.set_flying(g2.motors.active());
g2.stats.update();
AP::stats()->set_flying(g2.motors.active());
}
#endif

4
Rover/config.h
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@ -76,10 +76,6 @@
#define ADVANCED_FAILSAFE DISABLED
#endif
#ifndef STATS_ENABLED
# define STATS_ENABLED ENABLED
#endif
#ifndef OSD_ENABLED
#define OSD_ENABLED DISABLED
#endif

5
Rover/system.cpp
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@ -14,11 +14,6 @@ static void failsafe_check_static()
void Rover::init_ardupilot()
{
#if STATS_ENABLED == ENABLED
// initialise stats module
g2.stats.init();
#endif
BoardConfig.init();
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
can_mgr.init();