From 029aeeb4fd8bb7dbc025ca46e2a350df82631a2c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 30 May 2016 20:05:06 +1000
Subject: [PATCH] Copter: support for a GCS singleton

---
 ArduCopter/Copter.h        | 2 ++
 ArduCopter/GCS_Mavlink.cpp | 6 +++---
 ArduCopter/system.cpp      | 2 +-
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 243ea64463..82fd880f73 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -239,6 +239,8 @@ private:
     static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
 
     GCS_MAVLINK_Copter gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
+    GCS _gcs; // avoid using this; use gcs()
+    GCS &gcs() { return _gcs; }
 
     // User variables
 #ifdef USERHOOK_VARIABLES
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 31a5e70871..5f9046ce7a 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -11,7 +11,7 @@ void Copter::gcs_send_heartbeat(void)
 void Copter::gcs_send_deferred(void)
 {
     gcs_send_message(MSG_RETRY_DEFERRED);
-    GCS_MAVLINK::service_statustext();
+    gcs().service_statustext();
 }
 
 /*
@@ -2075,7 +2075,7 @@ void Copter::gcs_check_input(void)
 
 void Copter::gcs_send_text(MAV_SEVERITY severity, const char *str)
 {
-    GCS_MAVLINK::send_statustext(severity, 0xFF, str);
+    gcs().send_statustext(severity, 0xFF, str);
     notify.send_text(str);
 }
 
@@ -2091,7 +2091,7 @@ void Copter::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
     va_start(arg_list, fmt);
     va_end(arg_list);
     hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
-    GCS_MAVLINK::send_statustext(severity, 0xFF, str);
+    gcs().send_statustext(severity, 0xFF, str);
     notify.send_text(str);
 }
 
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index a871d3a640..1c218d3faf 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -111,7 +111,7 @@ void Copter::init_ardupilot()
     // initialise stats module
     g2.stats.init();
 
-    GCS_MAVLINK::set_dataflash(&DataFlash);
+    gcs().set_dataflash(&DataFlash);
 
     // identify ourselves correctly with the ground station
     mavlink_system.sysid = g.sysid_this_mav;