From 7fd157acb4fbd56e86180a23818d88518b0d192f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 14 Aug 2021 21:41:33 +0100
Subject: [PATCH] Rover: move AIS to vehicle

This reverts most of commit e86665a989e2d4fa35b79231a04a9310a5800e6c.
---
 Rover/GCS_Mavlink.cpp |  7 -------
 Rover/Parameters.cpp  | 17 +++++++++--------
 Rover/Parameters.h    |  5 -----
 Rover/Rover.cpp       |  3 ---
 Rover/system.cpp      |  4 ----
 Rover/wscript         |  1 -
 6 files changed, 9 insertions(+), 28 deletions(-)

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 589ed63951..a16a252542 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -388,13 +388,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
         break;
     }
 
-    case MSG_AIS_VESSEL: {
-#if HAL_AIS_ENABLED
-        rover.g2.ais.send(chan);
-#endif
-        break;
-    }
-
     default:
         return GCS_MAVLINK::try_send_message(id);
     }
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 47d3f0727d..66e83c9bd9 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -650,12 +650,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(torqeedo, "TRQD_", 49, ParametersG2, AP_Torqeedo),
 #endif
 
-#if HAL_AIS_ENABLED
-    // @Group: AIS_
-    // @Path: ../libraries/AP_AIS/AP_AIS.cpp
-    AP_SUBGROUPINFO(ais, "AIS_",  50, ParametersG2, AP_AIS),
-#endif
-
     // @Group: PSC
     // @Path: ../libraries/APM_Control/AR_PosControl.cpp
     AP_SUBGROUPINFO(pos_control, "PSC", 51, ParametersG2, AR_PosControl),
@@ -852,16 +846,23 @@ void Rover::load_parameters(void)
                                                       AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED);
 #endif
 
-// PARAMETER_CONVERSION - Added: JAN-2022
-#if AP_AIRSPEED_ENABLED
+#if AP_AIRSPEED_ENABLED | AP_AIS_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;
     }
+#endif
 
+// PARAMETER_CONVERSION - Added: JAN-2022
+#if AP_AIRSPEED_ENABLED
     const uint16_t old_index = 37;          // Old parameter index in the tree
     const uint16_t old_top_element = 4069;  // Old group element in the tree for the first subgroup element
     AP_Param::convert_class(info.old_key, &airspeed, airspeed.var_info, old_index, old_top_element, false);
 #endif
+
+// PARAMETER_CONVERSION - Added: MAR-2022
+#if AP_AIS_ENABLED
+    AP_Param::convert_class(info.old_key, &ais, ais.var_info, 50, 114, false);
+#endif
 }
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index 756ca70f47..89b506fc99 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -415,11 +415,6 @@ public:
     AP_Torqeedo torqeedo;
 #endif
 
-#if HAL_AIS_ENABLED
-    // Automatic Identification System - for tracking sea-going vehicles
-    AP_AIS ais;
-#endif
-
     // position controller
     AR_PosControl pos_control;
 
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index b20d644c1e..c8d656752a 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -130,9 +130,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #if ADVANCED_FAILSAFE == ENABLED
     SCHED_TASK(afs_fs_check,           10,    200, 129),
 #endif
-#if HAL_AIS_ENABLED
-    SCHED_TASK_CLASS(AP_AIS, &rover.g2.ais, update, 5, 100, 135),
-#endif
 };
 
 
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 4d08c33797..709911dc53 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -58,10 +58,6 @@ void Rover::init_ardupilot()
     log_init();
 #endif
 
-#if HAL_AIS_ENABLED
-    g2.ais.init();
-#endif
-
     // initialise compass
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();
diff --git a/Rover/wscript b/Rover/wscript
index ba0dbe1e9f..980299e852 100644
--- a/Rover/wscript
+++ b/Rover/wscript
@@ -26,7 +26,6 @@ def build(bld):
             'AP_WindVane',
             'AR_Motors',
             'AP_Torqeedo',
-            'AP_AIS',
         ],
     )