AP_Vehicle: add task info for fast loop

move fast loop tasks into scheduler table
remove fast loop

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

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