ArduCopter: move AP_Stats to AP_Vehicle

ArduCopter/APM_Config.h

@@ -9,7 +9,6 @@
 //#define AC_OAPATHPLANNER_ENABLED DISABLED         // disable path planning around obstacles
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
-//#define STATS_ENABLED         DISABLED            // disable statistics support
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support
 //#define MODE_BRAKE_ENABLED    DISABLED            // disable brake mode support

ArduCopter/Copter.cpp

@@ -260,9 +260,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button,            &copter.button,              update,           5, 100, 168),
 #endif
-#if STATS_ENABLED == ENABLED
-    SCHED_TASK_CLASS(AP_Stats,             &copter.g2.stats,            update,           1, 100, 171),
-#endif
 };
 
 void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,

ArduCopter/Copter.h

@@ -47,7 +47,6 @@
 #include <AC_AttitudeControl/AC_PosControl.h>                   // Position control library
 #include <AC_AttitudeControl/AC_CommandModel.h>                 // Command model library
 #include <AP_Motors/AP_Motors.h>            // AP Motors library
-#include <AP_Stats/AP_Stats.h>              // statistics library
 #include <Filter/Filter.h>                  // Filter library
 #include <AP_Vehicle/AP_Vehicle.h>          // needed for AHRS build
 #include <AP_InertialNav/AP_InertialNav.h>  // inertial navigation library

ArduCopter/Parameters.cpp

@@ -821,12 +821,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
 
-#if STATS_ENABLED == ENABLED
-    // @Group: STAT
-    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
-    AP_SUBGROUPINFO(stats, "STAT", 12, ParametersG2, AP_Stats),
-#endif
-
 #if AP_GRIPPER_ENABLED
     // @Group: GRIP_
     // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
@@ -1382,6 +1376,21 @@ void Copter::load_parameters(void)
     AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
 #endif
 
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+#if AP_STATS_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 12;       // Old parameter index in g2
+        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
+    }
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     // setup AP_Param frame type flags

ArduCopter/Parameters.h

@@ -508,11 +508,6 @@ public:
     AP_Button *button_ptr;
 #endif
 
-#if STATS_ENABLED == ENABLED
-    // vehicle statistics
-    AP_Stats stats;
-#endif
-
 #if AP_GRIPPER_ENABLED
     AP_Gripper gripper;
 #endif

ArduCopter/config.h

@@ -617,10 +617,6 @@
   #error Toy mode is not available on Helicopters
 #endif
 
-#ifndef STATS_ENABLED
- # define STATS_ENABLED ENABLED
-#endif
-
 #ifndef OSD_ENABLED
  #define OSD_ENABLED DISABLED
 #endif

ArduCopter/land_detector.cpp

@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#include <AP_Stats/AP_Stats.h>              // statistics library
+
 // Code to detect a crash main ArduCopter code
 #define LAND_CHECK_ANGLE_ERROR_DEG  30.0f       // maximum angle error to be considered landing
 #define LAND_CHECK_LARGE_ANGLE_CD   1500.0f     // maximum angle target to be considered landing
@@ -148,8 +150,8 @@ void Copter::set_land_complete(bool b)
 #endif
     ap.land_complete = b;
 
-#if STATS_ENABLED == ENABLED
+#if AP_STATS_ENABLED
-    g2.stats.set_flying(!b);
+    AP::stats()->set_flying(!b);
 #endif
 
     // tell AHRS flying state

ArduCopter/system.cpp

@@ -16,11 +16,6 @@ static void failsafe_check_static()
 void Copter::init_ardupilot()
 {
 
-#if STATS_ENABLED == ENABLED
-    // initialise stats module
-    g2.stats.init();
-#endif
-
     BoardConfig.init();
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     can_mgr.init();