From e29b6c30368bdd17b901347d4dc18a26bac27b25 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 9 Nov 2024 18:17:28 +1100
Subject: [PATCH] ArduCopter: create and use a singleton for SRV_Channels

avoid creation of static pointers to objects held within SRV_Channels
---
 ArduCopter/Copter.cpp          | 2 +-
 ArduCopter/compassmot.cpp      | 2 +-
 ArduCopter/esc_calibration.cpp | 8 ++++----
 ArduCopter/motors.cpp          | 2 +-
 ArduCopter/radio.cpp           | 2 +-
 5 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 417468160c..84e31f3ebb 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -727,7 +727,7 @@ void Copter::one_hz_loop()
     }
 
     // update assigned functions and enable auxiliary servos
-    SRV_Channels::enable_aux_servos();
+    AP::srv().enable_aux_servos();
 
 #if HAL_LOGGING_ENABLED
     // log terrain data
diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index 703f5cf722..c0d26041c0 100644
--- a/ArduCopter/compassmot.cpp
+++ b/ArduCopter/compassmot.cpp
@@ -148,7 +148,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
         // pass through throttle to motors
         SRV_Channels::cork();
         motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
-        SRV_Channels::push();
+        AP::srv().push();
 
         // read some compass values
         compass.read();
diff --git a/ArduCopter/esc_calibration.cpp b/ArduCopter/esc_calibration.cpp
index b4c5c11906..722127898e 100644
--- a/ArduCopter/esc_calibration.cpp
+++ b/ArduCopter/esc_calibration.cpp
@@ -97,7 +97,7 @@ void Copter::esc_calibration_passthrough()
         // pass through to motors
         SRV_Channels::cork();
         motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
-        SRV_Channels::push();
+        AP::srv().push();
     }
 #endif  // FRAME_CONFIG != HELI_FRAME
 }
@@ -114,14 +114,14 @@ void Copter::esc_calibration_auto()
     // raise throttle to maximum
     SRV_Channels::cork();
     motors->set_throttle_passthrough_for_esc_calibration(1.0f);
-    SRV_Channels::push();
+    AP::srv().push();
 
     // delay for 5 seconds while outputting pulses
     uint32_t tstart = millis();
     while (millis() - tstart < 5000) {
         SRV_Channels::cork();
         motors->set_throttle_passthrough_for_esc_calibration(1.0f);
-        SRV_Channels::push();
+        AP::srv().push();
         esc_calibration_notify();
         hal.scheduler->delay(3);
     }
@@ -130,7 +130,7 @@ void Copter::esc_calibration_auto()
     while(1) {
         SRV_Channels::cork();
         motors->set_throttle_passthrough_for_esc_calibration(0.0f);
-        SRV_Channels::push();
+        AP::srv().push();
         esc_calibration_notify();
         hal.scheduler->delay(3);
     }
diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index e382cb5941..328eb83150 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -181,7 +181,7 @@ void Copter::motors_output()
     }
 
     // push all channels
-    SRV_Channels::push();
+    AP::srv().push();
 }
 
 // check for pilot stick input to trigger lost vehicle alarm
diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index b92178d098..9873d1a284 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -45,7 +45,7 @@ void Copter::init_rc_out()
     motors->init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
 
     // enable aux servos to cope with multiple output channels per motor
-    SRV_Channels::enable_aux_servos();
+    AP::srv().enable_aux_servos();
 
     // update rate must be set after motors->init() to allow for motor mapping
     motors->set_update_rate(g.rc_speed);