From f0ad8760e253bac396fb4fa2ea8a96f112732b3b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 30 Aug 2018 09:54:12 +0900
Subject: [PATCH] Rover: move rally to g2

---
 APMrover2/GCS_Mavlink.cpp |  2 +-
 APMrover2/Parameters.cpp  | 15 ++++++++-------
 APMrover2/Parameters.h    |  5 ++++-
 APMrover2/Rover.h         |  3 ---
 APMrover2/mode_rtl.cpp    |  2 +-
 5 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index f017f1d472..5f3e74bb21 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1308,7 +1308,7 @@ AP_Mission *GCS_MAVLINK_Rover::get_mission()
 AP_Rally *GCS_MAVLINK_Rover::get_rally() const
 {
 #if AC_RALLY == ENABLED
-    return &rover.rally;
+    return &rover.g2.rally;
 #else
     return nullptr;
 #endif
diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index c09037575d..a0a280f184 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -356,12 +356,6 @@ const AP_Param::Info Rover::var_info[] = {
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
 #endif
 
-#if AC_RALLY == ENABLED
-    // @Group: RALLY_
-    // @Path: AP_Rally.cpp,../libraries/AP_Rally/AP_Rally.cpp
-    GOBJECT(rally,      "RALLY_",   AP_Rally_Rover),
-#endif
-
     // @Group: ARMING_
     // @Path: ../libraries/AP_Arming/AP_Arming.cpp
     GOBJECT(arming,                 "ARMING_", AP_Arming),
@@ -591,6 +585,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
     AP_SUBGROUPINFO(wheel_rate_control, "WRC", 27, ParametersG2, AP_WheelRateControl),
 
+#if AC_RALLY == ENABLED
+    // @Group: RALLY_
+    // @Path: AP_Rally.cpp,../libraries/AP_Rally/AP_Rally.cpp
+    AP_SUBGROUPINFO(rally, "RALLY_", 28, ParametersG2, AP_Rally_Rover),
+#endif
+
     AP_GROUPEND
 };
 
@@ -621,7 +621,8 @@ ParametersG2::ParametersG2(void)
     fence(rover.ahrs),
     proximity(rover.serial_manager),
     avoid(rover.ahrs, fence, rover.g2.proximity, &rover.g2.beacon),
-    follow()
+    follow(),
+    rally(rover.ahrs)
 {
     AP_Param::setup_object_defaults(this, var_info);
 }
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index 2f4a111ddf..e2a014663f 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -4,6 +4,7 @@
 
 #include "RC_Channel.h"
 #include "AC_Sprayer/AC_Sprayer.h"
+#include "AP_Rally.h"
 
 // Global parameter class.
 //
@@ -54,7 +55,6 @@ public:
         k_param_serial0_baud,   // deprecated, can be deleted
         k_param_serial1_baud,   // deprecated, can be deleted
         k_param_serial2_baud,   // deprecated, can be deleted
-        k_param_rally,
 
         // 97: RSSI
         k_param_rssi = 97,
@@ -364,6 +364,9 @@ public:
 
     // Sprayer
     AC_Sprayer sprayer;
+
+    // Rally point library
+    AP_Rally_Rover rally;
 };
 
 extern const AP_Param::Info var_info[];
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 042264bfbd..f08704e2ef 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -242,9 +242,6 @@ private:
     AP_Mount camera_mount{ahrs, current_loc};
 #endif
 
-    // Rally library
-    AP_Rally_Rover rally{ahrs};
-
     // true if initialisation has completed
     bool initialised;
 
diff --git a/APMrover2/mode_rtl.cpp b/APMrover2/mode_rtl.cpp
index cefe33cac3..912eff5cd1 100644
--- a/APMrover2/mode_rtl.cpp
+++ b/APMrover2/mode_rtl.cpp
@@ -10,7 +10,7 @@ bool ModeRTL::_enter()
 
     // initialise waypoint speed
     set_desired_speed_to_default(true);
-    return_target = rover.rally.calc_best_rally_or_home_location(rover.current_loc, ahrs.get_home().alt);
+    return_target = rover.g2.rally.calc_best_rally_or_home_location(rover.current_loc, ahrs.get_home().alt);
     // set destination
     set_desired_location(return_target);
     return true;