From e12e51f5029cee31dfba6f80d1ba731334243f6d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 31 May 2016 11:50:15 +1000
Subject: [PATCH] Tracker: Support for a GCS singleton

---
 AntennaTracker/GCS_Mavlink.cpp | 6 +++---
 AntennaTracker/Tracker.h       | 2 ++
 AntennaTracker/system.cpp      | 2 +-
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index b6c8574112..3579f2d594 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -950,7 +950,7 @@ void Tracker::gcs_update(void)
 
 void Tracker::gcs_send_text(MAV_SEVERITY severity, const char *str)
 {
-    GCS_MAVLINK::send_statustext(severity, 0xFF, str);
+    gcs().send_statustext(severity, 0xFF, str);
     notify.send_text(str);
 }
 
@@ -966,7 +966,7 @@ void Tracker::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
     va_start(arg_list, fmt);
     hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
     va_end(arg_list);
-    GCS_MAVLINK::send_statustext(severity, 0xFF, str);
+    gcs().send_statustext(severity, 0xFF, str);
     notify.send_text(str);
 }
 
@@ -976,5 +976,5 @@ void Tracker::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
 void Tracker::gcs_retry_deferred(void)
 {
     gcs_send_message(MSG_RETRY_DEFERRED);
-    GCS_MAVLINK::service_statustext();
+    gcs().service_statustext();
 }
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 43e431c772..0af4db0627 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -140,6 +140,8 @@ private:
     AP_SerialManager serial_manager;
     const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
     GCS_MAVLINK_Tracker gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
+    GCS _gcs; // avoid using this; use GCS::instance()
+    GCS &gcs() { return _gcs; }
 
     AP_BoardConfig BoardConfig;
 
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 10585a4b41..b94a7b431a 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -26,7 +26,7 @@ void Tracker::init_tracker()
     // Check the EEPROM format version before loading any parameters from EEPROM
     load_parameters();
 
-    GCS_MAVLINK::set_dataflash(&DataFlash);
+    gcs().set_dataflash(&DataFlash);
 
     mavlink_system.sysid = g.sysid_this_mav;