From 573b02fc2365ccaeba20d83fbcd9e741f0142ed4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 9 Nov 2024 18:40:03 +1100
Subject: [PATCH] AP_Periph: create and use a singleton for SRV_Channels

---
 Tools/AP_Periph/rc_out.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Tools/AP_Periph/rc_out.cpp b/Tools/AP_Periph/rc_out.cpp
index 2dbfbe07f5..b4d9d410a5 100644
--- a/Tools/AP_Periph/rc_out.cpp
+++ b/Tools/AP_Periph/rc_out.cpp
@@ -71,7 +71,7 @@ void AP_Periph_FW::rcout_init()
     hal.rcout->set_freq(esc_mask, g.esc_rate.get());
 
     // setup ESCs with the desired PWM type, allowing for DShot
-    SRV_Channels::init(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get());
+    AP::srv().init(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get());
 
     // run DShot at 1kHz
     hal.rcout->set_dshot_rate(SRV_Channels::get_dshot_rate(), 400);
@@ -83,7 +83,7 @@ void AP_Periph_FW::rcout_init()
 void AP_Periph_FW::rcout_init_1Hz()
 {
     // this runs at 1Hz to allow for run-time param changes
-    SRV_Channels::enable_aux_servos();
+    AP::srv().enable_aux_servos();
 
     for (uint8_t i=0; i<SERVO_OUT_MOTOR_MAX; i++) {
         servo_channels.set_esc_scaling_for(SRV_Channels::get_motor_function(i));
@@ -159,7 +159,7 @@ void AP_Periph_FW::rcout_update()
     SRV_Channels::calc_pwm();
     SRV_Channels::cork();
     SRV_Channels::output_ch_all();
-    SRV_Channels::push();
+    AP::srv().push();
 #if HAL_WITH_ESC_TELEM
     if (now_ms - last_esc_telem_update_ms >= esc_telem_update_period_ms) {
         last_esc_telem_update_ms = now_ms;