From 52e2a162c969807d2cd48f612106146832a42a24 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 9 Nov 2024 18:24:59 +1100
Subject: [PATCH] Blimp: create and use a singleton for SRV_Channels

avoid creation of static pointers to objects held within SRV_Channels
---
 Blimp/Blimp.cpp  | 2 +-
 Blimp/motors.cpp | 4 ++--
 Blimp/radio.cpp  | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp
index 83f8e62073..8ae8c0b704 100644
--- a/Blimp/Blimp.cpp
+++ b/Blimp/Blimp.cpp
@@ -210,7 +210,7 @@ void Blimp::one_hz_loop()
 #endif
 
     // update assigned functions and enable auxiliary servos
-    SRV_Channels::enable_aux_servos();
+    AP::srv().enable_aux_servos();
 
     AP_Notify::flags.flying = !ap.land_complete;
 
diff --git a/Blimp/motors.cpp b/Blimp/motors.cpp
index 35ba08b90c..c2993c99bd 100644
--- a/Blimp/motors.cpp
+++ b/Blimp/motors.cpp
@@ -88,5 +88,5 @@ void Blimp::motors_output()
     motors->output();
 
     // push all channels
-    SRV_Channels::push();
-}
\ No newline at end of file
+    AP::srv().push();
+}
diff --git a/Blimp/radio.cpp b/Blimp/radio.cpp
index 4b0c5a9a70..47212c5012 100644
--- a/Blimp/radio.cpp
+++ b/Blimp/radio.cpp
@@ -38,7 +38,7 @@ void Blimp::init_rc_in()
 void Blimp::init_rc_out()
 {
     // enable aux servos to cope with multiple output channels per motor
-    SRV_Channels::enable_aux_servos();
+    AP::srv().enable_aux_servos();
 
     // refresh auxiliary channel to function map
     SRV_Channels::update_aux_servo_function();