From e5ea748e7fb8b7b69bd916b155ed5637b4d5ddf2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Aug 2019 17:09:08 +1000
Subject: [PATCH] Tracker: integrate AP_Stats library

---
 AntennaTracker/AntennaTracker.cpp | 10 ++++++++++
 AntennaTracker/GCS_Mavlink.cpp    |  1 +
 AntennaTracker/Parameters.cpp     |  4 ++++
 AntennaTracker/Parameters.h       |  1 +
 AntennaTracker/Tracker.h          |  4 ++++
 AntennaTracker/system.cpp         |  3 +++
 AntennaTracker/wscript            |  1 +
 7 files changed, 24 insertions(+)

diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
index 73f456919d..21490bb96a 100644
--- a/AntennaTracker/AntennaTracker.cpp
+++ b/AntennaTracker/AntennaTracker.cpp
@@ -51,6 +51,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Notify,         &tracker.notify,    update,         50,  100),
     SCHED_TASK(one_second_loop,         1,   3900),
     SCHED_TASK_CLASS(Compass,          &tracker.compass,              cal_update, 50, 100),
+    SCHED_TASK(stats_update,            1,    200),
     SCHED_TASK(accel_cal_update,       10,    100)
 };
 
@@ -132,6 +133,15 @@ void Tracker::ten_hz_logging_loop()
     }
 }
 
+/*
+  update AP_Stats
+*/
+void Tracker::stats_update(void)
+{
+    stats.set_flying(hal.util->get_soft_armed());
+    stats.update();
+}
+
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 Tracker::Tracker(void)
diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 0a32fd6e6f..511660aeaa 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -267,6 +267,7 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_AHRS,
     MSG_HWSTATUS,
     MSG_SIMSTATE,
+    MSG_SYSTEM_TIME,
     MSG_AHRS2,
     MSG_AHRS3,
     MSG_MAG_CAL_REPORT,
diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index 015aa6b4b0..a06d384b95 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -409,6 +409,10 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Standard
     GSCALAR(disarm_pwm,              "SAFE_DISARM_PWM",        0),
 
+    // @Group: STAT_
+    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
+    GOBJECT(stats, "STAT",  AP_Stats),
+
     AP_VAREND
 };
 
diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
index ef68f3b092..0be41392a7 100644
--- a/AntennaTracker/Parameters.h
+++ b/AntennaTracker/Parameters.h
@@ -108,6 +108,7 @@ public:
         k_param_rc_channels,
         k_param_servo_channels,
 
+        k_param_stats = 218,
         k_param_scripting = 219,
 
         //
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index ca170c448b..6f51a9901a 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -51,6 +51,7 @@
 #include <AP_Mission/AP_Mission.h>
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_Rally/AP_Rally.h>
+#include <AP_Stats/AP_Stats.h>                      // statistics library
 #include <AP_Notify/AP_Notify.h>      // Notify library
 #include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
 #include <AP_Airspeed/AP_Airspeed.h>
@@ -144,6 +145,8 @@ private:
     GCS_Tracker _gcs; // avoid using this; use gcs()
     GCS_Tracker &gcs() { return _gcs; }
 
+    AP_Stats stats;
+
     AP_BoardConfig BoardConfig;
 
 #if HAL_WITH_UAVCAN
@@ -208,6 +211,7 @@ private:
     // AntennaTracker.cpp
     void one_second_loop();
     void ten_hz_logging_loop();
+    void stats_update();
 
     // control_auto.cpp
     void update_auto(void);
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 2a39ec616b..38ece8855b 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -20,6 +20,9 @@ void Tracker::init_tracker()
     // Check the EEPROM format version before loading any parameters from EEPROM
     load_parameters();
 
+    // initialise stats module
+    stats.init();
+
     mavlink_system.sysid = g.sysid_this_mav;
 
     // initialise serial ports
diff --git a/AntennaTracker/wscript b/AntennaTracker/wscript
index b4b4aaeb46..a8995253fe 100644
--- a/AntennaTracker/wscript
+++ b/AntennaTracker/wscript
@@ -10,6 +10,7 @@ def build(bld):
             'AC_PID',
             'AP_Beacon',
             'AP_Arming',
+            'AP_Stats',
         ],
     )