Mount: backends use reference to their state

libraries/AP_Mount/AP_Mount.cpp

@@ -417,17 +417,17 @@ void AP_Mount::init()
 
         // check for servo mounts
         if (mount_type == Mount_Type_Servo) {
-            _backends[instance] = new AP_Mount_Servo(*this, instance);
+            _backends[instance] = new AP_Mount_Servo(*this, state[instance], instance);
             _num_instances++;
 
         // check for MAVLink mounts
         } else if (mount_type == Mount_Type_MAVLink) {
-            _backends[instance] = new AP_Mount_MAVLink(*this, instance);
+            _backends[instance] = new AP_Mount_MAVLink(*this, state[instance], instance);
             _num_instances++;
 
         // check for Alexmos mounts
         } else if (mount_type == Mount_Type_Alexmos) {
-            _backends[instance] = new AP_Mount_Alexmos(*this, instance);
+            _backends[instance] = new AP_Mount_Alexmos(*this, state[instance], instance);
             _num_instances++;
         }
 

libraries/AP_Mount/AP_Mount.h

@@ -108,7 +108,7 @@ public:
     // parameter var table
     static const struct AP_Param::GroupInfo        var_info[];
 
-private:
+protected:
 
     // private members
     const AP_AHRS           &_ahrs;

libraries/AP_Mount/AP_Mount_Backend.h

@@ -29,8 +29,9 @@ class AP_Mount_Backend
 {
 public:
     // Constructor
-    AP_Mount_Backend(AP_Mount &frontend, uint8_t instance) :
+    AP_Mount_Backend(AP_Mount &frontend, AP_Mount::mount_state& state, uint8_t instance) :
         _frontend(frontend),
+        _state(state),
         _instance(instance)
     {}
 
@@ -74,6 +75,7 @@ protected:
     void calc_angle_to_location(const struct Location &target, Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan);
 
     AP_Mount    &_frontend; // reference to the front end which holds parameters
+    AP_Mount::mount_state &_state;    // refernce to the parameters and state for this backend
     uint8_t     _instance;  // this instance's number
     Vector3f    _angle_ef_target_rad;   // desired earth-frame roll, tilt and pan angles in radians
 };