From d2195405549b45463b27233d366ce3e73152436b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 7 Apr 2018 00:32:27 +1000
Subject: [PATCH] Copter: correct compilation when AFS is enabled

---
 ArduCopter/Parameters.cpp | 2 +-
 ArduCopter/afs_copter.cpp | 2 +-
 ArduCopter/events.cpp     | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 5235700cd6..979b41e1d3 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1004,7 +1004,7 @@ ParametersG2::ParametersG2(void)
     , proximity(copter.serial_manager)
 #endif
 #if ADVANCED_FAILSAFE == ENABLED
-    ,afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
+    ,afs(copter.mission, copter.gps, copter.rcmap)
 #endif
 #if MODE_SMARTRTL_ENABLED == ENABLED
     ,smart_rtl()
diff --git a/ArduCopter/afs_copter.cpp b/ArduCopter/afs_copter.cpp
index 54ce566fce..47785edff6 100644
--- a/ArduCopter/afs_copter.cpp
+++ b/ArduCopter/afs_copter.cpp
@@ -8,7 +8,7 @@
 
 // Constructor
 AP_AdvancedFailsafe_Copter::AP_AdvancedFailsafe_Copter(AP_Mission &_mission, const AP_GPS &_gps, const RCMapper &_rcmap) :
-    AP_AdvancedFailsafe(_mission, _baro, _gps, _rcmap)
+    AP_AdvancedFailsafe(_mission, _gps, _rcmap)
 {}
 
 
diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp
index 3a525266e6..1de335389e 100644
--- a/ArduCopter/events.cpp
+++ b/ArduCopter/events.cpp
@@ -75,7 +75,7 @@ void Copter::handle_battery_failsafe(const char *type_str, const int8_t action)
 #if ADVANCED_FAILSAFE == ENABLED
                 char battery_type_str[17];
                 snprintf(battery_type_str, 17, "%s battery", type_str);
-                afs.gcs_terminate(true, battery_type_str);
+                g2.afs.gcs_terminate(true, battery_type_str);
 #else
                 init_disarm_motors();
 #endif