From d1f5bcb1ab6f94b6c85048144e3c30de8bfd9b6e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 18 Jan 2019 11:57:30 +1100
Subject: [PATCH] APM_Control: stop taking reference to dataflash, use
 singleton

---
 libraries/APM_Control/AP_AutoTune.cpp      | 14 +++++++-------
 libraries/APM_Control/AP_AutoTune.h        |  4 +---
 libraries/APM_Control/AP_PitchController.h |  4 ++--
 libraries/APM_Control/AP_RollController.h  |  4 ++--
 4 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index 45dce5d070..35efa3b3a5 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -67,13 +67,11 @@ extern const AP_HAL::HAL& hal;
 
 // constructor
 AP_AutoTune::AP_AutoTune(ATGains &_gains, ATType _type,
-                         const AP_Vehicle::FixedWing &parms,
-                         DataFlash_Class &_dataflash) :
+                         const AP_Vehicle::FixedWing &parms) :
     running(false),
     current(_gains),
     type(_type),
     aparm(parms),
-    dataflash(_dataflash),
     saturated_surfaces(false)
 {}
 
@@ -268,7 +266,8 @@ void AP_AutoTune::check_save(void)
  */
 void AP_AutoTune::log_param_change(float v, const char *suffix)
 {
-    if (!dataflash.logging_started()) {
+    DataFlash_Class *dataflash = DataFlash_Class::instance();
+    if (!dataflash->logging_started()) {
         return;
     }
     char key[AP_MAX_NAME_SIZE+1];
@@ -280,7 +279,7 @@ void AP_AutoTune::log_param_change(float v, const char *suffix)
         strncpy(&key[9], suffix, AP_MAX_NAME_SIZE-9);
     }
     key[AP_MAX_NAME_SIZE] = 0;
-    dataflash.Log_Write_Parameter(key, v);
+    dataflash->Log_Write_Parameter(key, v);
 }
 
 /*
@@ -328,7 +327,8 @@ void AP_AutoTune::save_gains(const ATGains &v)
 
 void AP_AutoTune::write_log(float servo, float demanded, float achieved)
 {
-    if (!dataflash.logging_started()) {
+    DataFlash_Class *dataflash = DataFlash_Class::instance();
+    if (!dataflash->logging_started()) {
         return;
     }
 
@@ -342,5 +342,5 @@ void AP_AutoTune::write_log(float servo, float demanded, float achieved)
         achieved   : achieved,
         P          : current.P.get()
     };
-    dataflash.WriteBlock(&pkt, sizeof(pkt));
+    dataflash->WriteBlock(&pkt, sizeof(pkt));
 }
diff --git a/libraries/APM_Control/AP_AutoTune.h b/libraries/APM_Control/AP_AutoTune.h
index 71f3e7cded..65e03f9f43 100644
--- a/libraries/APM_Control/AP_AutoTune.h
+++ b/libraries/APM_Control/AP_AutoTune.h
@@ -34,7 +34,7 @@ public:
 
 
     // constructor
-    AP_AutoTune(ATGains &_gains, ATType type, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash);
+    AP_AutoTune(ATGains &_gains, ATType type, const AP_Vehicle::FixedWing &parms);
 
     // called when autotune mode is entered
     void start(void);
@@ -59,8 +59,6 @@ private:
 
 	const AP_Vehicle::FixedWing &aparm;
 
-    DataFlash_Class &dataflash;
-
     // did we saturate surfaces?
     bool saturated_surfaces:1;
 
diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h
index e3334416b3..d2da91c2c4 100644
--- a/libraries/APM_Control/AP_PitchController.h
+++ b/libraries/APM_Control/AP_PitchController.h
@@ -9,9 +9,9 @@
 
 class AP_PitchController {
 public:
-    AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
+    AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
         : aparm(parms)
-        , autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash)
+        , autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms)
         , _ahrs(ahrs)
     {
         AP_Param::setup_object_defaults(this, var_info);
diff --git a/libraries/APM_Control/AP_RollController.h b/libraries/APM_Control/AP_RollController.h
index 7b243be8e2..74a9c2ecf4 100644
--- a/libraries/APM_Control/AP_RollController.h
+++ b/libraries/APM_Control/AP_RollController.h
@@ -9,9 +9,9 @@
 
 class AP_RollController {
 public:
-    AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
+    AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms)
         : aparm(parms)
-        , autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms, _dataflash)
+        , autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms)
         , _ahrs(ahrs)
     {
         AP_Param::setup_object_defaults(this, var_info);