From cc2acc35a6b98b079f1b4e8f5e2bb389abbd2cab Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 1 Apr 2022 20:56:39 +0100
Subject: [PATCH] AP_Vehicle: add task info for fast loop

move fast loop tasks into scheduler table
remove fast loop
---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 13 +++----------
 libraries/AP_Vehicle/AP_Vehicle.h   |  3 +--
 2 files changed, 4 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 04d9b8fd40..862cc720ea 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -246,16 +246,6 @@ void AP_Vehicle::loop()
     }
 }
 
-/*
- fast loop callback for all vehicles. This will get called at the end of any vehicle-specific fast loop.
- */
-void AP_Vehicle::fast_loop()
-{
-#if HAL_GYROFFT_ENABLED
-    gyro_fft.sample_gyros();
-#endif
-}
-
 /*
   scheduler table - all regular tasks apart from the fast_loop()
   should be listed here.
@@ -283,6 +273,9 @@ SCHED_TASK_CLASS arguments:
 
  */
 const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
+#if HAL_GYROFFT_ENABLED
+    FAST_TASK_CLASS(AP_GyroFFT,    &vehicle.gyro_fft,       sample_gyros),
+#endif
 #if AP_AIRSPEED_ENABLED
     SCHED_TASK_CLASS(AP_Airspeed,  &vehicle.airspeed,       update,                   10, 100, 41),    // NOTE: the priority number here should be right before Plane's calc_airspeed_errors
 #endif
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index eabd7b801b..3102f79535 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -307,8 +307,7 @@ protected:
 #endif
 
     // main loop scheduler
-    AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&AP_Vehicle::fast_loop, void)};
-    virtual void fast_loop();
+    AP_Scheduler scheduler;
 
     // IMU variables
     // Integration time; time last loop took to run