From 8c001022598c49fda1910a6bc2c96a41eeda5a0b Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Thu, 13 Jun 2019 15:57:04 -0700
Subject: [PATCH] GCS_MAVLink: Reduce scoping on AP_BattMonitor include

---
 libraries/GCS_MAVLink/GCS.cpp        | 1 +
 libraries/GCS_MAVLink/GCS.h          | 4 +---
 libraries/GCS_MAVLink/GCS_Common.cpp | 8 +++++---
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index 8ce292fb0b..9d1c9a0546 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -1,5 +1,6 @@
 #include "GCS.h"
 #include <AP_Logger/AP_Logger.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 7217a4eee2..43c2c536bd 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -7,7 +7,6 @@
 #include <AP_Common/AP_Common.h>
 #include "GCS_MAVLink.h"
 #include <AP_Mission/AP_Mission.h>
-#include <AP_BattMonitor/AP_BattMonitor.h>
 #include <stdint.h>
 #include "MAVLink_routing.h"
 #include <AP_SerialManager/AP_SerialManager.h>
@@ -397,8 +396,7 @@ public:
     void send_meminfo(void);
     void send_fence_status() const;
     void send_power_status(void);
-    void send_battery_status(const AP_BattMonitor &battery,
-                             const uint8_t instance) const;
+    void send_battery_status(const uint8_t instance) const;
     bool send_battery_status() const;
     void send_distance_sensor() const;
     // send_rangefinder sends only if a downward-facing instance is
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index e25893ee44..aa4dea90ee 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -57,6 +57,8 @@
   #include <AP_ToshibaCAN/AP_ToshibaCAN.h>
 #endif
 
+#include <AP_BattMonitor/AP_BattMonitor.h>
+
 extern const AP_HAL::HAL& hal;
 
 uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms;
@@ -267,13 +269,13 @@ void GCS_MAVLINK::send_power_status(void)
                                   hal.analogin->power_status_flags());
 }
 
-void GCS_MAVLINK::send_battery_status(const AP_BattMonitor &battery,
-                                      const uint8_t instance) const
+void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
 {
     // catch the battery backend not supporting the required number of cells
     static_assert(sizeof(AP_BattMonitor::cells) >= (sizeof(uint16_t) * MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN),
                   "Not enough battery cells for the MAVLink message");
 
+    const AP_BattMonitor &battery = AP::battery();
     float temp;
     bool got_temperature = battery.get_temperature(temp, instance);
 
@@ -317,7 +319,7 @@ bool GCS_MAVLINK::send_battery_status() const
     for(uint8_t i = 0; i < battery.num_instances(); i++) {
         if (battery.get_type(i) != AP_BattMonitor_Params::BattMonitor_Type::BattMonitor_TYPE_NONE) {
             CHECK_PAYLOAD_SIZE(BATTERY_STATUS);
-            send_battery_status(battery, i);
+            send_battery_status(i);
         }
     }
     return true;