Rover: move AP_Stats to AP_vehicle

Rover/Parameters.cpp

@@ -404,11 +404,6 @@ const AP_Param::Info Rover::var_info[] = {
   2nd group of parameters
  */
 const AP_Param::GroupInfo ParametersG2::var_info[] = {
-#if STATS_ENABLED == ENABLED
-    // @Group: STAT
-    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
-    AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
-#endif
     // @Param: SYSID_ENFORCE
     // @DisplayName: GCS sysid enforcement
     // @Description: This controls whether packets from other than the expected GCS system ID will be accepted
@@ -921,4 +916,20 @@ void Rover::load_parameters(void)
 #if AP_FENCE_ENABLED
     AP_Param::convert_class(info.old_key, &fence, fence.var_info, 17, 4049, false);
 #endif
+
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Rover-4.6
+#if AP_STATS_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo stats_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, stats_info.old_key)) {
+            return;
+        }
+
+        const uint16_t stats_old_index = 1;       // Old parameter index in g2
+        const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
+    }
+#endif
+
 }

Rover/Parameters.h

@@ -293,11 +293,6 @@ public:
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
-#if STATS_ENABLED == ENABLED
-    // vehicle statistics
-    AP_Stats stats;
-#endif
-
     // whether to enforce acceptance of packets only from sysid_my_gcs
     AP_Int8 sysid_enforce;
 

Rover/Rover.cpp

@@ -134,9 +134,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #endif
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button,           &rover.button,           update,          5,  200, 117),
-#endif
-#if STATS_ENABLED == ENABLED
-    SCHED_TASK(stats_update,            1,    200, 120),
 #endif
     SCHED_TASK(crash_check,            10,    200, 123),
     SCHED_TASK(cruise_learn_update,    50,    200, 126),
@@ -302,14 +299,13 @@ void Rover::nav_script_time_done(uint16_t id)
 }
 #endif // AP_SCRIPTING_ENABLED
 
-#if STATS_ENABLED == ENABLED
+#if AP_STATS_ENABLED
 /*
   update AP_Stats
 */
 void Rover::stats_update(void)
 {
-    g2.stats.set_flying(g2.motors.active());
+    AP::stats()->set_flying(g2.motors.active());
-    g2.stats.update();
 }
 #endif
 

Rover/config.h

@@ -76,10 +76,6 @@
   #define ADVANCED_FAILSAFE DISABLED
 #endif
 
-#ifndef STATS_ENABLED
- # define STATS_ENABLED ENABLED
-#endif
-
 #ifndef OSD_ENABLED
  #define OSD_ENABLED DISABLED
 #endif

Rover/system.cpp

@@ -14,11 +14,6 @@ static void failsafe_check_static()
 
 void Rover::init_ardupilot()
 {
-#if STATS_ENABLED == ENABLED
-    // initialise stats module
-    g2.stats.init();
-#endif
-
     BoardConfig.init();
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     can_mgr.init();