From 4776ae653caa8a6253d8cf609b2eebfcd54e5660 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 23 Dec 2022 10:55:03 +1100
Subject: [PATCH] AP_Parachute: use relay singleton in Parachute

---
 libraries/AP_Parachute/AP_Parachute.cpp       | 19 ++++++++++++++-----
 libraries/AP_Parachute/AP_Parachute.h         |  5 +----
 .../AP_Parachute_test/AP_Parachute_test.cpp   |  2 +-
 3 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
index 1d6f33f434..59dc39143d 100644
--- a/libraries/AP_Parachute/AP_Parachute.cpp
+++ b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -139,7 +139,10 @@ void AP_Parachute::update()
                 SRV_Channels::set_output_pwm(SRV_Channel::k_parachute_release, _servo_on_pwm);
             } else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
                 // set relay
-                _relay.on(_release_type);
+                AP_Relay*_relay = AP::relay();
+                if (_relay != nullptr) {
+                    _relay->on(_release_type);
+                }
             }
             _release_in_progress = true;
             _released = true;
@@ -151,7 +154,10 @@ void AP_Parachute::update()
             SRV_Channels::set_output_pwm(SRV_Channel::k_parachute_release, _servo_off_pwm);
         } else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
             // set relay back to zero volts
-            _relay.off(_release_type);
+            AP_Relay*_relay = AP::relay();
+            if (_relay != nullptr) {
+                _relay->off(_release_type);
+            }
         }
         // reset released flag and release_time
         _release_in_progress = false;
@@ -205,9 +211,12 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
                 hal.util->snprintf(buffer, buflen, "Chute has no channel");
                 return false;
             }
-        } else if (!_relay.enabled(_release_type)) {
-            hal.util->snprintf(buffer, buflen, "Chute invalid relay %d", int(_release_type));
-            return false;
+        } else {
+            AP_Relay*_relay = AP::relay();
+            if (_relay == nullptr || !_relay->enabled(_release_type)) {
+                hal.util->snprintf(buffer, buflen, "Chute invalid relay %d", int(_release_type));
+                return false;
+            }
         }
         if (_release_initiated) {
             hal.util->snprintf(buffer, buflen, "Chute is released");
diff --git a/libraries/AP_Parachute/AP_Parachute.h b/libraries/AP_Parachute/AP_Parachute.h
index 6d978c6b4e..7793a202d2 100644
--- a/libraries/AP_Parachute/AP_Parachute.h
+++ b/libraries/AP_Parachute/AP_Parachute.h
@@ -4,7 +4,6 @@
 
 #include <AP_Param/AP_Param.h>
 #include <AP_Common/AP_Common.h>
-#include <AP_Relay/AP_Relay.h>
 
 #define AP_PARACHUTE_TRIGGER_TYPE_RELAY_0       0
 #define AP_PARACHUTE_TRIGGER_TYPE_RELAY_1       1
@@ -35,8 +34,7 @@ class AP_Parachute {
 
 public:
     /// Constructor
-    AP_Parachute(AP_Relay &relay)
-        : _relay(relay)
+    AP_Parachute()
     {
         // setup parameter defaults
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@@ -105,7 +103,6 @@ private:
     AP_Float    _critical_sink;      // critical sink rate to trigger emergency parachute
 
     // internal variables
-    AP_Relay   &_relay;         // pointer to relay object from the base class Relay.
     uint32_t    _release_time;  // system time that parachute is ordered to be released (actual release will happen 0.5 seconds later)
     bool        _release_initiated:1;    // true if the parachute release initiated (may still be waiting for engine to be suppressed etc.)
     bool        _release_in_progress:1;  // true if the parachute release is in progress
diff --git a/libraries/AP_Parachute/examples/AP_Parachute_test/AP_Parachute_test.cpp b/libraries/AP_Parachute/examples/AP_Parachute_test/AP_Parachute_test.cpp
index 6fba8bd2b2..327d41c188 100644
--- a/libraries/AP_Parachute/examples/AP_Parachute_test/AP_Parachute_test.cpp
+++ b/libraries/AP_Parachute/examples/AP_Parachute_test/AP_Parachute_test.cpp
@@ -23,7 +23,7 @@ static AP_Relay relay;
 
 #if HAL_PARACHUTE_ENABLED
 // Parachute
-static AP_Parachute parachute{relay};
+static AP_Parachute parachute;
 #endif
 
 void setup()