Rover: support for AP_Stats (flight time, bootcount, runtime)

APMrover2/APMrover2.cpp

@@ -75,8 +75,18 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK(accel_cal_update,       10,    100),
     SCHED_TASK(dataflash_periodic,     50,    300),
     SCHED_TASK(button_update,          5,     100),
+    SCHED_TASK(stats_update,           1,     100),
 };
 
+/*
+  update AP_Stats
+*/
+void Rover::stats_update(void)
+{
+    g2.stats.set_flying(motor_active());
+    g2.stats.update();
+}
+
 /*
   setup is called when the sketch starts
  */

APMrover2/Parameters.cpp

@@ -566,6 +566,10 @@ const AP_Param::Info Rover::var_info[] = {
  */
 const AP_Param::GroupInfo ParametersG2::var_info[] = {
 
+    // @Group: STAT
+    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
+    AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
+
     AP_GROUPEND
 };
 

APMrover2/Parameters.h

@@ -331,6 +331,9 @@ public:
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
+    // vehicle statistics
+    AP_Stats stats;
+
 };
 
 

APMrover2/Rover.h

@@ -72,6 +72,7 @@
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
 #include <AP_RSSI/AP_RSSI.h>                   // RSSI Library
 #include <AP_Button/AP_Button.h>
+#include <AP_Stats/AP_Stats.h>     // statistics library
 
 // Configuration
 #include "config.h"
@@ -472,6 +473,7 @@ private:
     void read_trim_switch();
     void update_events(void);
     void button_update(void);
+    void stats_update();
     void navigate();
     void set_control_channels(void);
     void init_rc_in();

APMrover2/make.inc

@@ -46,4 +46,4 @@ LIBRARIES += AP_RSSI
 LIBRARIES += AP_Declination
 LIBRARIES += AP_RPM
 LIBRARIES += AP_Arming
-
+LIBRARIES += AP_Stats

APMrover2/system.cpp

@@ -89,6 +89,9 @@ void Rover::init_ardupilot()
 
     load_parameters();
 
+    // initialise stats module
+    g2.stats.init();
+
     GCS_MAVLINK::set_dataflash(&DataFlash);
 
     mavlink_system.sysid = g.sysid_this_mav;

APMrover2/wscript

@@ -20,6 +20,7 @@ def build(bld):
             'AP_Relay',
             'AP_ServoRelayEvents',
             'PID',
+            'AP_Stats',
         ],
     )