Copter: move setup method up to AP_Vehicle base class

ArduCopter/Copter.cpp

@@ -209,19 +209,17 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #endif
 };
 
-constexpr int8_t Copter::_failsafe_priorities[7];
-
-void Copter::setup()
+void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                                 uint8_t &task_count,
+                                 uint32_t &log_bit)
 {
-    // Load the default values of variables listed in var_info[]s
-    AP_Param::setup_sketch_defaults();
-
-    init_ardupilot();
-
-    // initialise the main loop scheduler
-    scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), MASK_LOG_PM);
+    tasks = &scheduler_tasks[0];
+    task_count = ARRAY_SIZE(scheduler_tasks);
+    log_bit = MASK_LOG_PM;
 }
 
+constexpr int8_t Copter::_failsafe_priorities[7];
+
 void Copter::loop()
 {
     scheduler.loop();

ArduCopter/Copter.h

@@ -236,7 +236,6 @@ public:
     Copter(void);
 
     // HAL::Callbacks implementation.
-    void setup() override;
     void loop() override;
 
 private:
@@ -640,7 +639,10 @@ private:
     void set_failsafe_gcs(bool b);
     void update_using_interlock();
 
-    // ArduCopter.cpp
+    // Copter.cpp
+    void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                             uint8_t &task_count,
+                             uint32_t &log_bit) override;
     void fast_loop();
     void rc_loop();
     void throttle_loop();
@@ -859,7 +861,7 @@ private:
     void auto_trim();
 
     // system.cpp
-    void init_ardupilot();
+    void init_ardupilot() override;
     void startup_INS_ground();
     void update_dynamic_notch();
     bool position_ok() const;