Plane: move many members up to base class

ArduPlane/Plane.h

@@ -33,9 +33,6 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <StorageManager/StorageManager.h>
-#include <AP_GPS/AP_GPS.h>         // ArduPilot GPS library
-#include <AP_Baro/AP_Baro.h>        // ArduPilot barometer library
-#include <AP_Compass/AP_Compass.h>     // ArduPilot Mega Magnetometer Library
 #include <AP_Math/AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
 #include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor Library
 #include <AP_AccelCal/AP_AccelCal.h>                // interface and maths for accelerometer calibration
@@ -43,7 +40,6 @@
 #include <SRV_Channel/SRV_Channel.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>     // Range finder library
 #include <Filter/Filter.h>                     // Filter library
-#include <AP_Relay/AP_Relay.h>       // APM relay
 #include <AP_Camera/AP_Camera.h>          // Photo or video camera
 #include <AP_Airspeed/AP_Airspeed.h>
 #include <AP_Terrain/AP_Terrain.h>
@@ -55,7 +51,6 @@
 #include <APM_Control/APM_Control.h>
 #include <APM_Control/AP_AutoTune.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>    // MAVLink GCS definitions
-#include <AP_SerialManager/AP_SerialManager.h>   // Serial manager library
 #include <AP_Mount/AP_Mount.h>           // Camera/Antenna mount
 #include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
 #include <AP_Logger/AP_Logger.h>
@@ -74,23 +69,17 @@
 #include <AP_Mission/AP_Mission.h>     // Mission command library
 
 #include <AP_Soaring/AP_Soaring.h>
-#include <AP_Notify/AP_Notify.h>      // Notify library
 #include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
 
 #include <AP_Arming/AP_Arming.h>
-#include <AP_BoardConfig/AP_BoardConfig.h>
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_Frsky_Telem/AP_Frsky_Telem.h>
 #include <AP_OSD/AP_OSD.h>
-#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
 
 #include <AP_Rally/AP_Rally.h>
 
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
-#include <AP_RSSI/AP_RSSI.h>                   // RSSI Library
 #include <AP_Parachute/AP_Parachute.h>
 #include <AP_ADSB/AP_ADSB.h>
-#include <AP_Button/AP_Button.h>
 #include <AP_ICEngine/AP_ICEngine.h>
 #include <AP_Gripper/AP_Gripper.h>
 #include <AP_Landing/AP_Landing.h>
@@ -188,42 +177,21 @@ private:
     // mapping between input channels
     RCMapper rcmap;
 
-    // board specific config
-    AP_BoardConfig BoardConfig;
-
-    // board specific config for CAN bus
-#if HAL_WITH_UAVCAN
-    AP_BoardConfig_CAN BoardConfig_CAN;
-#endif
-
     // primary input channels
     RC_Channel *channel_roll;
     RC_Channel *channel_pitch;
     RC_Channel *channel_throttle;
     RC_Channel *channel_rudder;
 
-    // notification object for LEDs, buzzers etc (parameter set to false disables external leds)
-    AP_Notify notify;
-
     AP_Logger logger;
 
     // scaled roll limit based on pitch
     int32_t roll_limit_cd;
     int32_t pitch_limit_min_cd;
 
-    // Sensors
-    AP_GPS gps;
-
     // flight modes convenience array
     AP_Int8 *flight_modes = &g.flight_mode1;
 
-    AP_Baro barometer;
-    Compass compass;
-
-    AP_InertialSensor ins;
-
-    RangeFinder rangefinder;
-
     AP_Vehicle::FixedWing::Rangefinder_State rangefinder_state;
 
     AP_RPM rpm_sensor;
@@ -271,8 +239,6 @@ private:
     // external failsafe boards during baro and airspeed calibration
     bool in_calibration;
 
-    AP_SerialManager serial_manager;
-
     // GCS selection
     GCS_Plane _gcs; // avoid using this; use gcs()
     GCS_Plane &gcs() { return _gcs; }
@@ -283,12 +249,6 @@ private:
     // selected navigation controller
     AP_SpdHgtControl *SpdHgt_Controller = &TECS_controller;
 
-    // Relay
-    AP_Relay relay;
-
-    // handle servo and relay events
-    AP_ServoRelayEvents ServoRelayEvents;
-
     // Camera
 #if CAMERA == ENABLED
     AP_Camera camera{MASK_LOG_CAMERA, current_loc};
@@ -302,9 +262,6 @@ private:
     // Rally Ponints
     AP_Rally rally;
 
-    // RSSI
-    AP_RSSI rssi;
-
 #if OSD_ENABLED == ENABLED
     AP_OSD osd;
 #endif
@@ -1098,7 +1055,6 @@ public:
     void failsafe_check(void);
 };
 
-extern const AP_HAL::HAL& hal;
 extern Plane plane;
 
 using AP_HAL::millis;