From e965e8f11e9b31d4a75d79a0d48d46a1193dde2a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 27 Dec 2018 17:37:50 +1100
Subject: [PATCH] Copter: move many members up to base class

---
 ArduCopter/Copter.h | 40 ----------------------------------------
 1 file changed, 40 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index e03706aad1..1adc23c618 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -35,11 +35,7 @@
 
 // Application dependencies
 #include <GCS_MAVLink/GCS.h>
-#include <AP_SerialManager/AP_SerialManager.h>   // Serial manager library
-#include <AP_GPS/AP_GPS.h>             // ArduPilot GPS library
 #include <AP_Logger/AP_Logger.h>          // ArduPilot Mega Flash Memory Library
-#include <AP_Baro/AP_Baro.h>
-#include <AP_Compass/AP_Compass.h>         // ArduPilot Mega Magnetometer Library
 #include <AP_Math/AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 #include <AP_AccelCal/AP_AccelCal.h>                // interface and maths for accelerometer calibration
 #include <AP_InertialSensor/AP_InertialSensor.h>  // ArduPilot Mega Inertial Sensor (accel & gyro) Library
@@ -52,10 +48,7 @@
 #include <AC_AttitudeControl/AC_PosControl.h>      // Position control library
 #include <AP_Motors/AP_Motors.h>          // AP Motors library
 #include <AP_Stats/AP_Stats.h>     // statistics library
-#include <AP_RSSI/AP_RSSI.h>                   // RSSI Library
 #include <Filter/Filter.h>             // Filter library
-#include <AP_Relay/AP_Relay.h>           // APM relay
-#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
 #include <AP_Airspeed/AP_Airspeed.h>        // needed for AHRS build
 #include <AP_Vehicle/AP_Vehicle.h>         // needed for AHRS build
 #include <AP_InertialNav/AP_InertialNav.h>     // ArduPilot Mega inertial navigation library
@@ -65,10 +58,7 @@
 #include <AP_Declination/AP_Declination.h>     // ArduPilot Mega Declination Helper Library
 #include <AP_Scheduler/AP_Scheduler.h>       // main loop scheduler
 #include <AP_RCMapper/AP_RCMapper.h>        // RC input mapping library
-#include <AP_Notify/AP_Notify.h>          // Notify library
 #include <AP_BattMonitor/AP_BattMonitor.h>     // Battery monitor library
-#include <AP_BoardConfig/AP_BoardConfig.h>     // board configuration library
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
 #include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
 #include <AC_InputManager/AC_InputManager_Heli.h>   // Heli specific pilot input handling library
@@ -259,9 +249,6 @@ private:
     // main loop scheduler
     AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&Copter::fast_loop, void)};
 
-    // AP_Notify instance
-    AP_Notify notify;
-
     // used to detect MAVLink acks from GCS to stop compassmot
     uint8_t command_ack_counter;
 
@@ -273,17 +260,10 @@ private:
 
     AP_Logger logger;
 
-    AP_GPS gps;
-
     // flight modes convenience array
     AP_Int8 *flight_modes;
     const uint8_t num_flight_modes = 6;
 
-    AP_Baro barometer;
-    Compass compass;
-    AP_InertialSensor ins;
-
-    RangeFinder rangefinder;
     struct RangeFinderState {
         bool enabled:1;
         bool alt_healthy:1; // true if we can trust the altitude from the rangefinder
@@ -352,8 +332,6 @@ private:
     uint32_t ekfYawReset_ms;
     int8_t ekf_primary_core;
 
-    AP_SerialManager serial_manager;
-
     // GCS selection
     GCS_Copter _gcs; // avoid using this; use gcs()
     GCS_Copter &gcs() { return _gcs; }
@@ -412,14 +390,6 @@ private:
     // intertial nav alt when we armed
     float arming_altitude_m;
 
-    // board specific config
-    AP_BoardConfig BoardConfig;
-
-#if HAL_WITH_UAVCAN
-    // board specific config for CAN bus
-    AP_BoardConfig_CAN BoardConfig_CAN;
-#endif
-
     // Failsafe
     struct {
         uint32_t last_heartbeat_ms;      // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
@@ -511,12 +481,6 @@ private:
     // Used to exit the roll and pitch auto trim function
     uint8_t auto_trim_counter;
 
-    // Reference to the relay object
-    AP_Relay relay;
-
-    // handle repeated servo and relay events
-    AP_ServoRelayEvents ServoRelayEvents;
-
     // Camera
 #if CAMERA == ENABLED
     AP_Camera camera{MASK_LOG_CAMERA, current_loc};
@@ -542,9 +506,6 @@ private:
     AP_Rally_Copter rally;
 #endif
 
-    // RSSI
-    AP_RSSI rssi;
-
     // Crop Sprayer
 #if SPRAYER_ENABLED == ENABLED
     AC_Sprayer sprayer;
@@ -987,7 +948,6 @@ public:
     void failsafe_check();      // failsafe.cpp
 };
 
-extern const AP_HAL::HAL& hal;
 extern Copter copter;
 
 using AP_HAL::millis;