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ArduCopter: move AP_Stats to AP_Vehicle

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Peter Barker 2024-01-26 14:11:40 +11:00 committed by Andrew Tridgell
parent 652d2ec198
commit eab70e3a1e
8 changed files with 19 additions and 27 deletions
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1
ArduCopter/APM_Config.h
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@ -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

3
ArduCopter/Copter.cpp
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@ -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,

1
ArduCopter/Copter.h
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@ -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

21
ArduCopter/Parameters.cpp
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@ -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

5
ArduCopter/Parameters.h
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@ -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

4
ArduCopter/config.h
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@ -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

6
ArduCopter/land_detector.cpp
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@ -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
g2.stats.set_flying(!b);
#if AP_STATS_ENABLED
AP::stats()->set_flying(!b);
#endif
// tell AHRS flying state

5
ArduCopter/system.cpp
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@ -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();