From 69093aa7b1e7bc01ebf541375a40d4f1206d248c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 5 May 2020 14:41:17 +1000
Subject: [PATCH] AP_Soaring: stop taking AHRS as constructor argument

... use singleton instead
---
 libraries/AP_Soaring/AP_Soaring.cpp | 11 ++++++-----
 libraries/AP_Soaring/AP_Soaring.h   |  3 +--
 libraries/AP_Soaring/Variometer.cpp |  5 +++--
 libraries/AP_Soaring/Variometer.h   |  3 +--
 4 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Soaring/AP_Soaring.cpp b/libraries/AP_Soaring/AP_Soaring.cpp
index 494cfbc125..094ca7affe 100644
--- a/libraries/AP_Soaring/AP_Soaring.cpp
+++ b/libraries/AP_Soaring/AP_Soaring.cpp
@@ -138,10 +138,9 @@ const AP_Param::GroupInfo SoaringController::var_info[] = {
     AP_GROUPEND
 };
 
-SoaringController::SoaringController(AP_AHRS &ahrs, AP_SpdHgtControl &spdHgt, const AP_Vehicle::FixedWing &parms) :
-    _ahrs(ahrs),
+SoaringController::SoaringController(AP_SpdHgtControl &spdHgt, const AP_Vehicle::FixedWing &parms) :
     _spdHgt(spdHgt),
-    _vario(ahrs,parms),
+    _vario(parms),
     _aparm(parms),
     _throttle_suppressed(true)
 {
@@ -153,7 +152,7 @@ SoaringController::SoaringController(AP_AHRS &ahrs, AP_SpdHgtControl &spdHgt, co
 
 void SoaringController::get_target(Location &wp)
 {
-    wp = _ahrs.get_home();
+    wp = AP::ahrs().get_home();
     wp.offset(_position_x_filter.get(), _position_y_filter.get());
 }
 
@@ -260,7 +259,8 @@ void SoaringController::init_thermalling()
     const MatrixN<float,4> p{init_p};
 
     Vector3f position;
-    
+
+    const AP_AHRS &_ahrs = AP::ahrs();
     if (!_ahrs.get_relative_position_NED_home(position)) {
         return;
     }
@@ -301,6 +301,7 @@ void SoaringController::update_thermalling()
 
     Vector3f current_position;
 
+    const AP_AHRS &_ahrs = AP::ahrs();
     if (!_ahrs.get_relative_position_NED_home(current_position)) {
         return;
     }
diff --git a/libraries/AP_Soaring/AP_Soaring.h b/libraries/AP_Soaring/AP_Soaring.h
index d2c9c0ef75..df56968ed4 100644
--- a/libraries/AP_Soaring/AP_Soaring.h
+++ b/libraries/AP_Soaring/AP_Soaring.h
@@ -25,7 +25,6 @@
 
 class SoaringController {
     ExtendedKalmanFilter _ekf{};
-    AP_AHRS &_ahrs;
     AP_SpdHgtControl &_spdHgt;
     Variometer _vario;
     const AP_Vehicle::FixedWing &_aparm;
@@ -74,7 +73,7 @@ protected:
     AP_Float max_drift;
 
 public:
-    SoaringController(AP_AHRS &ahrs, AP_SpdHgtControl &spdHgt, const AP_Vehicle::FixedWing &parms);
+    SoaringController(AP_SpdHgtControl &spdHgt, const AP_Vehicle::FixedWing &parms);
 
     enum class LoiterStatus {
         DISABLED,
diff --git a/libraries/AP_Soaring/Variometer.cpp b/libraries/AP_Soaring/Variometer.cpp
index 8e76a78e98..979692abcd 100644
--- a/libraries/AP_Soaring/Variometer.cpp
+++ b/libraries/AP_Soaring/Variometer.cpp
@@ -6,8 +6,7 @@ Manages the estimation of aircraft total energy, drag and vertical air velocity.
 
 #include <AP_Logger/AP_Logger.h>
 
-Variometer::Variometer(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
-    _ahrs(ahrs),
+Variometer::Variometer(const AP_Vehicle::FixedWing &parms) :
     _aparm(parms)
 {
     _climb_filter = LowPassFilter<float>(1.0/60.0);
@@ -17,6 +16,8 @@ Variometer::Variometer(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
 
 void Variometer::update(const float polar_K, const float polar_Cd0, const float polar_B)
 {
+    const AP_AHRS &_ahrs = AP::ahrs();
+
     _ahrs.get_relative_position_D_home(alt);
     alt = -alt;
 
diff --git a/libraries/AP_Soaring/Variometer.h b/libraries/AP_Soaring/Variometer.h
index 56be8dfde7..ce5a4ed6b1 100644
--- a/libraries/AP_Soaring/Variometer.h
+++ b/libraries/AP_Soaring/Variometer.h
@@ -16,7 +16,6 @@ Manages the estimation of aircraft total energy, drag and vertical air velocity.
 
 class Variometer {
 
-    AP_AHRS &_ahrs;
     const AP_Vehicle::FixedWing &_aparm;
 
     // store time of last update
@@ -43,7 +42,7 @@ class Variometer {
     LowPassFilter<float> _vdot_filter2;
 
 public:
-    Variometer(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms);
+    Variometer(const AP_Vehicle::FixedWing &parms);
     float alt;
     float reading;
     float filtered_reading;