AP_Mount: use dataflash singleton

Closes #7550

libraries/AP_Mount/AP_Mount.cpp

@@ -415,8 +415,6 @@ void AP_Mount::init(const AP_SerialManager& serial_manager)
         return;
     }
 
-    _dataflash = DataFlash_Class::instance();
-
     // default mount to servo mount if rc output channels to control roll, tilt or pan have been defined
     if (!state[0]._type.configured()) {
         if (SRV_Channels::function_assigned(SRV_Channel::Aux_servo_function_t::k_mount_pan) ||

libraries/AP_Mount/AP_Mount.h

@@ -182,6 +182,4 @@ protected:
         MAV_MOUNT_MODE  _mode;              // current mode (see MAV_MOUNT_MODE enum)
         struct Location _roi_target;        // roi target location
     } state[AP_MOUNT_MAX_INSTANCES];
-
-    DataFlash_Class *_dataflash;
 };

libraries/AP_Mount/AP_Mount_SoloGimbal.cpp

@@ -119,19 +119,24 @@ void AP_Mount_SoloGimbal::handle_gimbal_report(mavlink_channel_t chan, mavlink_m
     _gimbal.update_target(_angle_ef_target_rad);
     _gimbal.receive_feedback(chan,msg);
 
-    if(!_params_saved && _frontend._dataflash != nullptr && _frontend._dataflash->logging_started()) {
+    DataFlash_Class *df = DataFlash_Class::instance();
+    if (df == nullptr) {
+        return;
+    }
+
+    if(!_params_saved && df->logging_started()) {
         _gimbal.fetch_params();       //last parameter save might not be stored in dataflash so retry
         _params_saved = true;
     }
 
     if (_gimbal.get_log_dt() > 1.0f/25.0f) {
-        _gimbal.write_logs(_frontend._dataflash);
+        _gimbal.write_logs();
     }
 }
 
 void AP_Mount_SoloGimbal::handle_param_value(mavlink_message_t *msg)
 {
-    _gimbal.handle_param_value(_frontend._dataflash, msg);
+    _gimbal.handle_param_value(msg);
 }
 
 /*

libraries/AP_Mount/SoloGimbal.cpp

@@ -371,9 +371,12 @@ void SoloGimbal::update_target(Vector3f newTarget)
     _att_target_euler_rad.y = constrain_float(_att_target_euler_rad.y,radians(-90),radians(0));
 }
 
-void SoloGimbal::write_logs(DataFlash_Class* dataflash)
+void SoloGimbal::write_logs()
 {
-    if (dataflash == nullptr) return;
+    DataFlash_Class *dataflash = DataFlash_Class::instance();
+    if (dataflash == nullptr) {
+        return;
+    }
 
     uint32_t tstamp = AP_HAL::millis();
     Vector3f eulerEst;

libraries/AP_Mount/SoloGimbal.h

@@ -67,15 +67,15 @@ public:
 
     void set_lockedToBody(bool val) { _lockedToBody = val; }
 
-    void write_logs(DataFlash_Class* dataflash);
+    void write_logs();
 
     float get_log_dt() { return _log_dt; }
 
     void disable_torque_report() { _gimbalParams.set_param(GMB_PARAM_GMB_SND_TORQUE, 0); }
     void fetch_params() { _gimbalParams.fetch_params(); }
 
-    void handle_param_value(DataFlash_Class *dataflash, mavlink_message_t *msg) {
-        _gimbalParams.handle_param_value(dataflash, msg);
+    void handle_param_value(mavlink_message_t *msg) {
+        _gimbalParams.handle_param_value(msg);
     }
 
 private:

libraries/AP_Mount/SoloGimbal_Parameters.cpp

@@ -166,11 +166,12 @@ void SoloGimbal_Parameters::update()
     }
 }
 
-void SoloGimbal_Parameters::handle_param_value(DataFlash_Class *dataflash, mavlink_message_t *msg)
+void SoloGimbal_Parameters::handle_param_value(mavlink_message_t *msg)
 {
     mavlink_param_value_t packet;
     mavlink_msg_param_value_decode(msg, &packet);
 
+    DataFlash_Class *dataflash = DataFlash_Class::instance();
     if (dataflash != nullptr) {
         dataflash->Log_Write_Parameter(packet.param_id, packet.param_value);
     }

libraries/AP_Mount/SoloGimbal_Parameters.h

@@ -54,7 +54,7 @@ public:
     void set_param(gmb_param_t param, float value);
 
     void update();
-    void handle_param_value(DataFlash_Class *dataflash, mavlink_message_t *msg);
+    void handle_param_value(mavlink_message_t *msg);
 
     Vector3f get_accel_bias();
     Vector3f get_accel_gain();