ArduCopter: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer

ArduCopter/Copter.cpp

@@ -236,9 +236,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if AP_TERRAIN_AVAILABLE
     SCHED_TASK(terrain_update,        10,    100, 144),
 #endif
-#if AP_GRIPPER_ENABLED
-    SCHED_TASK_CLASS(AP_Gripper,           &copter.g2.gripper,          update,          10,  75, 147),
-#endif
 #if AP_WINCH_ENABLED
     SCHED_TASK_CLASS(AP_Winch,             &copter.g2.winch,            update,          50,  50, 150),
 #endif

ArduCopter/Copter.h

@@ -110,10 +110,6 @@
  #include <AC_WPNav/AC_WPNav_OA.h>
  #include <AC_Avoidance/AP_OAPathPlanner.h>
 #endif
-#include <AP_Gripper/AP_Gripper_config.h>
-#if AP_GRIPPER_ENABLED
- # include <AP_Gripper/AP_Gripper.h>
-#endif
 #if AC_PRECLAND_ENABLED
  # include <AC_PrecLand/AC_PrecLand.h>
  # include <AC_PrecLand/AC_PrecLand_StateMachine.h>

ArduCopter/Parameters.cpp

@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#include <AP_Gripper/AP_Gripper.h>
+
 /*
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
@@ -817,11 +819,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 
     // 12 was AP_Stats
 
-#if AP_GRIPPER_ENABLED
+    // 13 was AP_Gripper
-    // @Group: GRIP_
-    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
-    AP_SUBGROUPINFO(gripper, "GRIP_", 13, ParametersG2, AP_Gripper),
-#endif
 
     // @Param: FRAME_CLASS
     // @DisplayName: Frame Class
@@ -1393,6 +1391,21 @@ void Copter::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if AP_GRIPPER_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 = 13;       // Old parameter index in g2
+        const uint16_t old_top_element = 4045; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &gripper, gripper.var_info, old_index, old_top_element, false);
+    }
+#endif
+
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
 }

ArduCopter/Parameters.h

@@ -6,10 +6,6 @@
 #include "RC_Channel.h"
 #include <AP_Proximity/AP_Proximity.h>
 
-#include <AP_Gripper/AP_Gripper_config.h>
-#if AP_GRIPPER_ENABLED
- # include <AP_Gripper/AP_Gripper.h>
-#endif
 #if MODE_FOLLOW_ENABLED == ENABLED
  # include <AP_Follow/AP_Follow.h>
 #endif
@@ -508,10 +504,6 @@ public:
     AP_Button *button_ptr;
 #endif
 
-#if AP_GRIPPER_ENABLED
-    AP_Gripper gripper;
-#endif
-
 #if MODE_THROW_ENABLED == ENABLED
     // Throw mode parameters
     AP_Int8 throw_nextmode;

ArduCopter/crash_check.cpp

@@ -172,7 +172,7 @@ void Copter::thrust_loss_check()
 
 #if AP_GRIPPER_ENABLED
         if ((copter.g2.flight_options & uint32_t(FlightOptions::RELEASE_GRIPPER_ON_THRUST_LOSS)) != 0) {
-            copter.g2.gripper.release();
+            gripper.release();
         }
 #endif
     }

ArduCopter/events.cpp

@@ -504,7 +504,7 @@ void Copter::do_failsafe_action(FailsafeAction action, ModeReason reason){
 
 #if AP_GRIPPER_ENABLED
     if (failsafe_option(FailsafeOption::RELEASE_GRIPPER)) {
-        copter.g2.gripper.release();
+        gripper.release();
     }
 #endif
 }

ArduCopter/mode_auto.cpp

@@ -1235,8 +1235,7 @@ void PayloadPlace::run()
 
 #if AP_GRIPPER_ENABLED == ENABLED
     // if pilot releases load manually:
-    if (AP::gripper() != nullptr &&
+    if (AP::gripper().valid() && AP::gripper().released()) {
-        AP::gripper()->valid() && AP::gripper()->released()) {
         switch (state) {
         case State::FlyToLocation:
         case State::Descent_Start:
@@ -1334,9 +1333,9 @@ void PayloadPlace::run()
         // Reinitialise vertical position controller to remove discontinuity due to touch down of payload
         pos_control->init_z_controller_no_descent();
 #if AP_GRIPPER_ENABLED == ENABLED
-        if (g2.gripper.valid()) {
+        if (AP::gripper().valid()) {
             gcs().send_text(MAV_SEVERITY_INFO, "%s Releasing the gripper", prefix_str);
-            g2.gripper.release();
+            AP::gripper().release();
             state = State::Releasing;
         } else {
             state = State::Delay;
@@ -1347,8 +1346,8 @@ void PayloadPlace::run()
         break;
 
     case State::Releasing:
-#if AP_GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
-        if (g2.gripper.valid() && !g2.gripper.released()) {
+        if (AP::gripper().valid() && !AP::gripper().released()) {
             break;
         }
 #endif

ArduCopter/system.cpp

@@ -15,11 +15,6 @@ static void failsafe_check_static()
 
 void Copter::init_ardupilot()
 {
-    // init cargo gripper
-#if AP_GRIPPER_ENABLED
-    g2.gripper.init();
-#endif
-
     // init winch
 #if AP_WINCH_ENABLED
     g2.winch.init();