From 93abfdb90582f75129e6b8d615767a3982046b9e Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sun, 10 Nov 2019 20:13:17 +0000
Subject: [PATCH] Copter: create generic vehicle management and move runcam to
 it

---
 ArduCopter/APM_Config.h   | 1 -
 ArduCopter/Copter.cpp     | 1 +
 ArduCopter/Parameters.cpp | 6 ++++--
 ArduCopter/Parameters.h   | 2 ++
 ArduCopter/system.cpp     | 3 +++
 5 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index c28a027b9b..aaf4cb5d93 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -49,7 +49,6 @@
 //#define OSD_ENABLED           DISABLED            // disable on-screen-display support
 //#define BUTTON_ENABLED        DISABLED            // disable button support
 
-
 // features below are disabled by default on all boards
 //#define CAL_ALWAYS_REBOOT                         // flight controller will reboot after compass or accelerometer calibration completes
 //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE   // disable mode changes from GCS during Radio failsafes.  Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index ef947c6b41..e60ebb328c 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -623,5 +623,6 @@ Copter::Copter(void)
 }
 
 Copter copter;
+AP_Vehicle& vehicle = copter;
 
 AP_HAL_MAIN_CALLBACKS(&copter);
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index fcafc92afa..68a93bc23c 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -715,6 +715,10 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: Parameters.cpp
     GOBJECT(g2, "",  ParametersG2),
 
+    // @Group:
+    // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
+    { AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&copter, {group_info : AP_Vehicle::var_info} },
+
     AP_VAREND
 };
 
@@ -959,8 +963,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(arot, "AROT_", 37, ParametersG2, AC_Autorotation),
 #endif
 
-
-
     AP_GROUPEND
 };
 
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 5b101cb711..44bfaa86dc 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -373,6 +373,8 @@ public:
 
         // 254,255: reserved
 
+        k_param_vehicle = 257, // vehicle common block of parameters
+
         // the k_param_* space is 9-bits in size
         // 511: reserved
     };
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 3c2f10e847..91c58b9e5e 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -226,6 +226,9 @@ void Copter::init_ardupilot()
     g2.smart_rtl.init();
 #endif
 
+    // run all the vehicle initialization routines
+    init_vehicle();
+
     // initialise AP_Logger library
     logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&copter, &Copter::Log_Write_Vehicle_Startup_Messages, void));