From e4fbe64616ad4bd3b44f9a03786ecea30f323c8e Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 6 Nov 2020 16:20:02 +0000
Subject: [PATCH] Plane: add QuadPlane singleton

---
 ArduPlane/quadplane.cpp | 7 +++++++
 ArduPlane/quadplane.h   | 6 ++++++
 2 files changed, 13 insertions(+)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index bda2aba99e..b3654e4398 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -597,6 +597,11 @@ QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) :
 {
     AP_Param::setup_object_defaults(this, var_info);
     AP_Param::setup_object_defaults(this, var_info2);
+
+    if (_singleton != nullptr) {
+        AP_HAL::panic("Can only be one Quadplane");
+    }
+    _singleton = this;
 }
 
 
@@ -3573,3 +3578,5 @@ bool QuadPlane::show_vtol_view() const
 
     return show_vtol;
 }
+
+QuadPlane *QuadPlane::_singleton = nullptr;
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 5ad3edfbaf..717991d272 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -43,6 +43,10 @@ public:
     
     QuadPlane(AP_AHRS_NavEKF &_ahrs);
 
+    static QuadPlane *get_singleton() {
+        return _singleton;
+    }
+
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
     static const struct AP_Param::GroupInfo var_info2[];
@@ -652,4 +656,6 @@ public:
                                         uint8_t motor_count);
 private:
     void motor_test_stop();
+
+    static QuadPlane *_singleton;
 };