From dfc274e547f635dcefbf83c34286cae379655563 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 16 Jan 2020 21:25:40 +1100
Subject: [PATCH] Tracker: move setup method up to AP_Vehicle base class

---
 AntennaTracker/Tracker.cpp | 17 ++++++-----------
 AntennaTracker/Tracker.h   |  8 +++++---
 AntennaTracker/system.cpp  |  2 +-
 3 files changed, 12 insertions(+), 15 deletions(-)

diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
index 46d936ac61..927c299a86 100644
--- a/AntennaTracker/Tracker.cpp
+++ b/AntennaTracker/Tracker.cpp
@@ -55,18 +55,13 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK(accel_cal_update,       10,    100)
 };
 
-/**
-  setup the sketch - called once on startup
- */
-void Tracker::setup() 
+void Tracker::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_tracker();
-
-    // initialise the main loop scheduler
-    scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), (uint32_t)-1);
+    tasks = &scheduler_tasks[0];
+    task_count = ARRAY_SIZE(scheduler_tasks);
+    log_bit = (uint32_t)-1;
 }
 
 /**
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 45ad282a8e..7fb9e15b72 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -77,7 +77,6 @@ public:
     static const AP_FWVersion fwver;
 
     // HAL::Callbacks implementation.
-    void setup() override;
     void loop() override;
 
 private:
@@ -174,7 +173,10 @@ private:
     // true if the compass's initial location has been set
     bool compass_init_location;
 
-    // AntennaTracker.cpp
+    // Tracker.cpp
+    void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                             uint8_t &task_count,
+                             uint32_t &log_bit) override;
     void one_second_loop();
     void ten_hz_logging_loop();
     void stats_update();
@@ -215,7 +217,7 @@ private:
     void update_yaw_cr_servo(float yaw);
 
     // system.cpp
-    void init_tracker();
+    void init_ardupilot() override;
     bool get_home_eeprom(struct Location &loc);
     bool set_home_eeprom(const Location &temp) WARN_IF_UNUSED;
     bool set_home(const Location &temp) WARN_IF_UNUSED;
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 6ad48cc181..5b88a4a41c 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -3,7 +3,7 @@
 // mission storage
 static const StorageAccess wp_storage(StorageManager::StorageMission);
 
-void Tracker::init_tracker()
+void Tracker::init_ardupilot()
 {
     // initialise console serial port
     serial_manager.init_console();