From ed488d518c97c0c63bcb694f6ef5b39f434769de Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 27 Jul 2024 13:23:50 +1000
Subject: [PATCH] Copter: switch to AP_QuickTune as pre-allocated object

this simplifies the structure and use case at the cost of a bit more
memory
---
 ArduCopter/Copter.cpp     | 15 +++++++++++++++
 ArduCopter/Copter.h       |  5 ++++-
 ArduCopter/Parameters.cpp |  2 +-
 ArduCopter/RC_Channel.cpp | 25 +------------------------
 ArduCopter/RC_Channel.h   |  3 ---
 ArduCopter/mode.cpp       |  6 ------
 6 files changed, 21 insertions(+), 35 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index b02628b1bd64a..6a25466b9c6c5 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -259,6 +259,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button,            &copter.button,              update,           5, 100, 168),
 #endif
+#if AP_QUICKTUNE_ENABLED
+    SCHED_TASK(update_quicktune,       40, 100, 171),
+#endif
 };
 
 void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@@ -807,6 +810,18 @@ void Copter::update_altitude()
 #endif
 }
 
+#if AP_QUICKTUNE_ENABLED
+/*
+  update AP_Quicktune object. We pass the supports_quicktune() method
+  in so that quicktune can detect if the user changes to a
+  non-quicktune capable mode while tuning and the gains can be reverted
+ */
+void Copter::update_quicktune(void)
+{
+    quicktune.update(flightmode->supports_quicktune());
+}
+#endif
+
 // vehicle specific waypoint info helpers
 bool Copter::get_wp_distance_m(float &distance) const
 {
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index f49a0b474cb64..73af171614c00 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -495,7 +495,7 @@ class Copter : public AP_Vehicle {
 #endif
 
 #if AP_QUICKTUNE_ENABLED
-    AP_Quicktune *quicktune;
+    AP_Quicktune quicktune;
 #endif
 
     // System Timers
@@ -726,6 +726,9 @@ class Copter : public AP_Vehicle {
     bool get_wp_bearing_deg(float &bearing) const override;
     bool get_wp_crosstrack_error_m(float &xtrack_error) const override;
     bool get_rate_ef_targets(Vector3f& rate_ef_targets) const override;
+#if AP_QUICKTUNE_ENABLED
+    void update_quicktune(void);
+#endif
 
     // Attitude.cpp
     void update_throttle_hover();
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 724816c842568..1788835917cec 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -496,7 +496,7 @@ const AP_Param::Info Copter::var_info[] = {
 #if AP_QUICKTUNE_ENABLED == ENABLED
     // @Group: QUIK_
     // @Path: ../libraries/AP_Quicktune/AP_Quicktune.cpp
-    GOBJECTPTR(quicktune, "QUIK_",  AP_Quicktune),
+    GOBJECT(quicktune, "QUIK_",  AP_Quicktune),
 #endif
 
     // @Group: ATC_
diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
index 0df53f3eec6ac..42cfae8cdd0f8 100644
--- a/ArduCopter/RC_Channel.cpp
+++ b/ArduCopter/RC_Channel.cpp
@@ -651,7 +651,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
 #endif
 #if AP_QUICKTUNE_ENABLED
     case AUX_FUNC::QUICKTUNE:
-        do_aux_function_quicktune(ch_flag);
+        copter.quicktune.update_switch_pos(ch_flag);
         break;
 #endif
 
@@ -691,29 +691,6 @@ void RC_Channel_Copter::do_aux_function_change_force_flying(const AuxSwitchPos c
     }
 }
 
-#if AP_QUICKTUNE_ENABLED
-// called on any Quicktune Aux function change
-void RC_Channel_Copter::do_aux_function_quicktune(const AuxSwitchPos ch_flag)
-{
-    if (copter.quicktune == nullptr && !copter.arming.is_armed()) {
-        //first call, allocate quicktune object
-        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Quicktune: Initialised.");
-        copter.quicktune = NEW_NOTHROW AP_Quicktune();
-        if (copter.quicktune == nullptr) {
-            // Can't use BoardConfig error as this might happen while flying.
-            GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Quicktune: unable to allocate.");
-            return;
-        }
-        AP_Param::load_object_from_eeprom(copter.quicktune, copter.quicktune->var_info);
-    } else if (copter.quicktune == nullptr && copter.arming.is_armed()){
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Quicktune: Must be disarmed to initialise.");
-    }
-    if (copter.quicktune != nullptr) {
-        copter.quicktune->update_switch_pos(ch_flag);
-    }
-}
-#endif
-
 // save_trim - adds roll and pitch trims from the radio to ahrs
 void Copter::save_trim()
 {
diff --git a/ArduCopter/RC_Channel.h b/ArduCopter/RC_Channel.h
index c7fd796b3ad4b..b0ba3ebb1492f 100644
--- a/ArduCopter/RC_Channel.h
+++ b/ArduCopter/RC_Channel.h
@@ -20,9 +20,6 @@ class RC_Channel_Copter : public RC_Channel
                                      const AuxSwitchPos ch_flag);
     void do_aux_function_change_air_mode(const AuxSwitchPos ch_flag);
     void do_aux_function_change_force_flying(const AuxSwitchPos ch_flag);
-#if AP_QUICKTUNE_ENABLED
-    void do_aux_function_quicktune(const AuxSwitchPos ch_flag);
-#endif
 
     // called when the mode switch changes position:
     void mode_switch_changed(modeswitch_pos_t new_pos) override;
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index f4aba15a97fc5..ce191b0c1ef08 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -425,12 +425,6 @@ void Copter::update_flight_mode()
 #endif
 
     flightmode->run();
-
-#if AP_QUICKTUNE_ENABLED
-    if (quicktune != nullptr && flightmode->supports_quicktune()) {
-        quicktune->update();
-    }
-#endif
 }
 
 // exit_mode - high level call to organise cleanup as a flight mode is exited