Plane: move setup method up to AP_Vehicle base class

ArduPlane/ArduPlane.cpp

@@ -112,19 +112,17 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(update_dynamic_notch,   50,    200),
 };
 
-constexpr int8_t Plane::_failsafe_priorities[7];
-
-void Plane::setup() 
+void Plane::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[]
-    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 Plane::_failsafe_priorities[7];
+
 void Plane::loop()
 {
     scheduler.loop();

ArduPlane/Plane.h

@@ -161,7 +161,6 @@ public:
     Plane(void);
 
     // HAL::Callbacks implementation.
-    void setup() override;
     void loop() override;
 
 private:
@@ -896,7 +895,10 @@ private:
     void read_airspeed(void);
     void rpm_update(void);
     void efi_update(void);
-    void init_ardupilot();
+    void init_ardupilot() override;
+    void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                             uint8_t &task_count,
+                             uint32_t &log_bit) override;
     void startup_ground(void);
     bool set_mode(Mode& new_mode, const ModeReason reason);
     bool set_mode(const uint8_t mode, const ModeReason reason) override;