From ddf172c75bcd74ac2195ec7bbcc63836b32dbfad Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 17 Aug 2016 14:28:16 +1000
Subject: [PATCH] Rover: AP_Arming: use callback in place of variable reference
 for home state

---
 APMrover2/AP_Arming.cpp |  7 +++++++
 APMrover2/AP_Arming.h   | 21 +++++++++++++++++++++
 APMrover2/Rover.h       |  6 +++---
 3 files changed, 31 insertions(+), 3 deletions(-)
 create mode 100644 APMrover2/AP_Arming.cpp
 create mode 100644 APMrover2/AP_Arming.h

diff --git a/APMrover2/AP_Arming.cpp b/APMrover2/AP_Arming.cpp
new file mode 100644
index 0000000000..c786548131
--- /dev/null
+++ b/APMrover2/AP_Arming.cpp
@@ -0,0 +1,7 @@
+#include "AP_Arming.h"
+#include "Rover.h"
+
+enum HomeState AP_Arming_Rover::home_status() const
+{
+    return rover.home_is_set;
+}
diff --git a/APMrover2/AP_Arming.h b/APMrover2/AP_Arming.h
new file mode 100644
index 0000000000..8037252359
--- /dev/null
+++ b/APMrover2/AP_Arming.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <AP_Arming/AP_Arming.h>
+
+/*
+  a rover-specific arming class
+ */
+class AP_Arming_Rover : public AP_Arming
+{
+public:
+
+    AP_Arming_Rover(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
+                    const AP_BattMonitor &battery) :
+        AP_Arming(ahrs_ref, baro, compass, battery) {
+    }
+
+protected:
+
+    enum HomeState home_status() const override;
+};
+
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 36e5c35b3f..e07168d5ba 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -63,7 +63,7 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Frsky_Telem/AP_Frsky_Telem.h>
 
-#include <AP_Arming/AP_Arming.h>
+#include "AP_Arming.h"
 #include "compat.h"
 
 #include <AP_Notify/AP_Notify.h>                    // Notify library
@@ -93,7 +93,7 @@ public:
     friend class GCS_MAVLINK_Rover;
     friend class Parameters;
     friend class ParametersG2;
-    friend class AP_Arming;
+    friend class AP_Arming_Rover;
 
     Rover(void);
 
@@ -152,7 +152,7 @@ private:
 #endif
 
     // Arming/Disarming management class
-    AP_Arming arming {ahrs, barometer, compass, battery, home_is_set};
+    AP_Arming_Rover arming {ahrs, barometer, compass, battery};
 
     AP_L1_Control L1_controller;