From 81ba0375826135f4173891df1b603c32b536dff8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Mar 2018 07:36:56 +1100
Subject: [PATCH] Rover: use baro singleton

---
 APMrover2/AP_Arming.h     |  4 ++--
 APMrover2/GCS_Mavlink.cpp |  4 ++--
 APMrover2/Log.cpp         |  2 +-
 APMrover2/Rover.h         | 10 +++++-----
 APMrover2/afs_rover.cpp   |  4 ++--
 APMrover2/afs_rover.h     |  2 +-
 6 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/APMrover2/AP_Arming.h b/APMrover2/AP_Arming.h
index 8035deaac2..0b1af5e93b 100644
--- a/APMrover2/AP_Arming.h
+++ b/APMrover2/AP_Arming.h
@@ -9,9 +9,9 @@
 class AP_Arming_Rover : public AP_Arming
 {
 public:
-    AP_Arming_Rover(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
+    AP_Arming_Rover(const AP_AHRS &ahrs_ref, Compass &compass,
                     const AP_BattMonitor &battery, const AC_Fence &fence)
-        : AP_Arming(ahrs_ref, baro, compass, battery),
+        : AP_Arming(ahrs_ref, compass, battery),
           _fence(fence)
     {
     }
diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 073c577c1f..a7c1e68648 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -345,12 +345,12 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
 
     case MSG_RAW_IMU2:
         CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
-        send_scaled_pressure(rover.barometer);
+        send_scaled_pressure();
         break;
 
     case MSG_RAW_IMU3:
         CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
-        send_sensor_offsets(rover.ins, rover.compass, rover.barometer);
+        send_sensor_offsets(rover.ins, rover.compass);
         break;
 
     case MSG_SIMSTATE:
diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp
index 564bf1ca96..1014eb4043 100644
--- a/APMrover2/Log.cpp
+++ b/APMrover2/Log.cpp
@@ -216,7 +216,7 @@ void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
 
 void Rover::Log_Write_Baro(void)
 {
-    DataFlash.Log_Write_Baro(barometer);
+    DataFlash.Log_Write_Baro();
 }
 
 // log ahrs home and EKF origin to dataflash
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 70f0905e59..c0e49d7dbf 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -169,15 +169,15 @@ private:
 
     // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-    NavEKF2 EKF2{&ahrs, barometer, rangefinder};
-    NavEKF3 EKF3{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3};
+    NavEKF2 EKF2{&ahrs, rangefinder};
+    NavEKF3 EKF3{&ahrs, rangefinder};
+    AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3};
 #else
-    AP_AHRS_DCM ahrs{ins, barometer};
+    AP_AHRS_DCM ahrs{ins};
 #endif
 
     // Arming/Disarming management class
-    AP_Arming_Rover arming{ahrs, barometer, compass, battery, g2.fence};
+    AP_Arming_Rover arming{ahrs, compass, battery, g2.fence};
 
     AP_L1_Control L1_controller{ahrs, nullptr};
 
diff --git a/APMrover2/afs_rover.cpp b/APMrover2/afs_rover.cpp
index 3ad7d7951c..62f1e49fd2 100644
--- a/APMrover2/afs_rover.cpp
+++ b/APMrover2/afs_rover.cpp
@@ -7,8 +7,8 @@
 #if ADVANCED_FAILSAFE == ENABLED
 
 // Constructor
-AP_AdvancedFailsafe_Rover::AP_AdvancedFailsafe_Rover(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap) :
-    AP_AdvancedFailsafe(_mission, _baro, _gps, _rcmap)
+AP_AdvancedFailsafe_Rover::AP_AdvancedFailsafe_Rover(AP_Mission &_mission, const AP_GPS &_gps, const RCMapper &_rcmap) :
+    AP_AdvancedFailsafe(_mission, _gps, _rcmap)
 {}
 
 
diff --git a/APMrover2/afs_rover.h b/APMrover2/afs_rover.h
index fdc77c6140..3367d8da71 100644
--- a/APMrover2/afs_rover.h
+++ b/APMrover2/afs_rover.h
@@ -27,7 +27,7 @@
 class AP_AdvancedFailsafe_Rover : public AP_AdvancedFailsafe
 {
 public:
-    AP_AdvancedFailsafe_Rover(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap);
+    AP_AdvancedFailsafe_Rover(AP_Mission &_mission, const AP_GPS &_gps, const RCMapper &_rcmap);
 
     // called to set all outputs to termination state
     void terminate_vehicle(void) override;