From 30130173690cce8cbbc9bf513cdd72e0463d13fb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 30 Jul 2021 22:25:40 +1000
Subject: [PATCH] AP_AdvancedFailsafe: use mission singleton inside
 AP_AdvancedFailsafe

---
 libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp | 7 +++++++
 libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h   | 8 ++------
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
index 9ca764dada..5004afa0ae 100644
--- a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
@@ -26,6 +26,7 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Baro/AP_Baro.h>
+#include <AP_Mission/AP_Mission.h>
 
 AP_AdvancedFailsafe *AP_AdvancedFailsafe::_singleton;
 
@@ -208,6 +209,12 @@ AP_AdvancedFailsafe::check(bool geofence_breached, uint32_t last_valid_rc_ms)
     bool gcs_link_ok = ((now - last_heartbeat_ms) < 10000);
     bool gps_lock_ok = ((now - AP::gps().last_fix_time_ms()) < 3000);
 
+    AP_Mission *_mission = AP::mission();
+    if (_mission == nullptr) {
+        return;
+    }
+    AP_Mission &mission = *_mission;
+
     switch (_state) {
     case STATE_PREFLIGHT:
         // we startup in preflight mode. This mode ends when
diff --git a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
index 499b2edb74..3cb7e85f1c 100644
--- a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
@@ -22,9 +22,8 @@
 
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
-#include <AP_Mission/AP_Mission.h>
 #include <inttypes.h>
-
+#include <AP_Common/Location.h>
 
 class AP_AdvancedFailsafe
 {
@@ -52,8 +51,7 @@ public:
     AP_AdvancedFailsafe &operator=(const AP_AdvancedFailsafe&) = delete;
 
     // Constructor
-    AP_AdvancedFailsafe(AP_Mission &_mission) :
-        mission(_mission)
+    AP_AdvancedFailsafe()
         {
             AP_Param::setup_object_defaults(this, var_info);
             if (_singleton != nullptr) {
@@ -106,8 +104,6 @@ protected:
 
     enum state _state;
 
-    AP_Mission &mission;
-
     AP_Int8 _enable;
     // digital output pins for communicating with the failsafe board
     AP_Int8 _heartbeat_pin;