From d2d89b02cc1b2dd6a8909e5a79210d62a9c4064b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 17:40:35 +1100
Subject: [PATCH] ArduPlane: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer
---
 ArduPlane/ArduPlane.cpp  |  3 ---
 ArduPlane/Parameters.cpp | 23 ++++++++++++++++++-----
 ArduPlane/Parameters.h   |  6 ------
 ArduPlane/system.cpp     |  5 -----
 4 files changed, 18 insertions(+), 19 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index bab97f46e2..b8661a45be 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -132,9 +132,6 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button, &plane.button, update, 5, 100, 150),
 #endif
-#if AP_GRIPPER_ENABLED
-    SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75, 156),
-#endif
 #if AP_LANDINGGEAR_ENABLED
     SCHED_TASK(landing_gear_update, 5, 50, 159),
 #endif
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 6d3c1d9456..fe571b2b58 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1,5 +1,7 @@
 #include "Plane.h"
 
+#include <AP_Gripper/AP_Gripper.h>
+
 /*
  *  ArduPlane parameter definitions
  *
@@ -1068,11 +1070,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("HOME_RESET_ALT", 11, ParametersG2, home_reset_threshold, 0),
 
-#if AP_GRIPPER_ENABLED
-    // @Group: GRIP_
-    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
-    AP_SUBGROUPINFO(gripper, "GRIP_", 12, ParametersG2, AP_Gripper),
-#endif
+    // 12 was AP_Gripper
 
     // @Param: FLIGHT_OPTIONS
     // @DisplayName: Flight mode options
@@ -1558,6 +1556,21 @@ void Plane::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Plane-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 = 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, &gripper, gripper.var_info, old_index, old_top_element, false);
+    }
+#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);
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index ad78f76de7..49f3822f83 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -3,7 +3,6 @@
 #define AP_PARAM_VEHICLE_NAME plane
 
 #include <AP_Common/AP_Common.h>
-#include <AP_Gripper/AP_Gripper.h>
 
 // Global parameter class.
 //
@@ -512,11 +511,6 @@ public:
     // home reset altitude threshold
     AP_Int8 home_reset_threshold;
 
-#if AP_GRIPPER_ENABLED
-    // Payload Gripper
-    AP_Gripper gripper;
-#endif
-
     AP_Int32 flight_options;
 
     AP_Int8 takeoff_throttle_accel_count;
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index eab2ecef94..593dfb1c16 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -132,11 +132,6 @@ void Plane::init_ardupilot()
         optflow.init(-1);
     }
 #endif
-
-// init cargo gripper
-#if AP_GRIPPER_ENABLED
-    g2.gripper.init();
-#endif
 }
 
 //********************************************************************************