Plane: allow AP_Stats to be optional

ArduPlane/ArduPlane.cpp

@@ -83,12 +83,15 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(ins_periodic,           50,     50),
     SCHED_TASK(avoidance_adsb_update,  10,    100),
     SCHED_TASK(button_update,           5,    100),
+#if STATS_ENABLED == ENABLED
     SCHED_TASK(stats_update,            1,    100),
+#endif
 #if GRIPPER_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75),
 #endif
 };
 
+#if STATS_ENABLED == ENABLED
 /*
   update AP_Stats
  */
@@ -96,7 +99,7 @@ void Plane::stats_update(void)
 {
     g2.stats.update();
 }
-
+#endif
 
 void Plane::setup() 
 {

ArduPlane/Parameters.cpp

@@ -1144,10 +1144,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Values: 0:NotEnforced,1:Enforced
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 4, ParametersG2, sysid_enforce, 0),
-
+#if STATS_ENABLED == ENABLED
     // @Group: STAT
     // @Path: ../libraries/AP_Stats/AP_Stats.cpp
     AP_SUBGROUPINFO(stats, "STAT", 5, ParametersG2, AP_Stats),
+#endif
 
     // @Group: SERVO
     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp

ArduPlane/Parameters.h

@@ -518,8 +518,10 @@ public:
     // button reporting library
     AP_Button button;
 
+#if STATS_ENABLED == ENABLED
     // vehicle statistics
     AP_Stats stats;
+#endif
 
     // internal combustion engine control
     AP_ICEngine ice_control;

ArduPlane/config.h

@@ -355,3 +355,7 @@
 #else
 # define HAVE_PX4_MIXER 0
 #endif
+
+#ifndef STATS_ENABLED
+ # define STATS_ENABLED ENABLED
+#endif

ArduPlane/is_flying.cpp

@@ -150,7 +150,9 @@ void Plane::update_is_flying_5Hz(void)
 #if FRSKY_TELEM_ENABLED == ENABLED
     frsky_telemetry.set_is_flying(new_is_flying);
 #endif
+#if STATS_ENABLED == ENABLED
     g2.stats.set_flying(new_is_flying);
+#endif
 
     crash_detection_update();
 

ArduPlane/system.cpp

@@ -33,8 +33,10 @@ void Plane::init_ardupilot()
     //
     load_parameters();
 
+#if STATS_ENABLED == ENABLED
     // initialise stats module
     g2.stats.init();
+#endif
 
 #if HIL_SUPPORT
     if (g.hil_mode == 1) {