ArduPlane: move logger object up to AP_Vehicle

ArduPlane/Log.cpp

@@ -483,6 +483,11 @@ const struct LogStructure Plane::log_structure[] = {
 #endif
 };
 
+uint8_t Plane::get_num_log_structures() const
+{
+    return ARRAY_SIZE(log_structure);
+}
+
 void Plane::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
@@ -498,12 +503,4 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
     gps.Write_AP_Logger_Log_Startup_messages();
 }
 
-/*
-  initialise logging subsystem
- */
-void Plane::log_init(void)
-{
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-}
-
 #endif // HAL_LOGGING_ENABLED

ArduPlane/Parameters.cpp

@@ -908,12 +908,6 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
 #endif
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
     GOBJECT(battery,                "BATT", AP_BattMonitor),
@@ -1579,5 +1573,10 @@ void Plane::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }

ArduPlane/Plane.cpp

@@ -24,9 +24,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
   constructor for main Plane class
  */
 Plane::Plane(void)
-#if HAL_LOGGING_ENABLED
-    : logger(g.log_bitmask)
-#endif
 {
     // C++11 doesn't allow in-class initialisation of bitfields
     auto_state.takeoff_complete = true;

ArduPlane/Plane.h

@@ -192,10 +192,6 @@ private:
     RC_Channel *channel_flap;
     RC_Channel *channel_airbrake;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     // scaled roll limit based on pitch
     int32_t roll_limit_cd;
     float pitch_limit_min;
@@ -886,9 +882,16 @@ private:
     int16_t calc_nav_yaw_course(void);
     int16_t calc_nav_yaw_ground(void);
 
-    // Log.cpp
+#if HAL_LOGGING_ENABLED
-    uint32_t last_log_fast_ms;
 
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
+    // Log.cpp
     void Log_Write_FullRate(void);
     void Log_Write_Attitude(void);
     void Log_Write_Control_Tuning();
@@ -900,6 +903,7 @@ private:
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Write_AETR();
     void log_init();
+#endif
 
     // Parameters.cpp
     void load_parameters(void) override;

ArduPlane/system.cpp

@@ -64,10 +64,6 @@ void Plane::init_ardupilot()
     osd.init();
 #endif
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();