From 024b29858da7fd8a683dc23f0c815f27b88585f6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Mar 2018 07:34:26 +1100
Subject: [PATCH] AP_AHRS: use baro singleton

---
 libraries/AP_AHRS/AP_AHRS.h                        | 8 +-------
 libraries/AP_AHRS/AP_AHRS_DCM.cpp                  | 4 ++--
 libraries/AP_AHRS/AP_AHRS_DCM.h                    | 4 ++--
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp               | 5 ++---
 libraries/AP_AHRS/AP_AHRS_NavEKF.h                 | 2 +-
 libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp | 6 +++---
 6 files changed, 11 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index f6cec6c4ab..e9fb153105 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -53,7 +53,7 @@ public:
     friend class AP_AHRS_View;
     
     // Constructor
-    AP_AHRS(AP_InertialSensor &ins, AP_Baro &baro) :
+    AP_AHRS(AP_InertialSensor &ins) :
         roll(0.0f),
         pitch(0.0f),
         yaw(0.0f),
@@ -67,7 +67,6 @@ public:
         _beacon(nullptr),
         _compass_last_update(0),
         _ins(ins),
-        _baro(baro),
         _cos_roll(1.0f),
         _cos_pitch(1.0f),
         _cos_yaw(1.0f),
@@ -211,10 +210,6 @@ public:
         return _ins;
     }
 
-    const AP_Baro &get_baro() const {
-        return _baro;
-    }
-
     // get the index of the current primary accelerometer sensor
     virtual uint8_t get_primary_accel_index(void) const {
         return _ins.get_primary_accel();
@@ -639,7 +634,6 @@ protected:
     // note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
     //       IMU under us without our noticing.
     AP_InertialSensor   &_ins;
-    AP_Baro             &_baro;
 
     // a vector to capture the difference between the controller and body frames
     AP_Vector3f         _trim;
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index 8a25dba490..275dfba810 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -956,7 +956,7 @@ bool AP_AHRS_DCM::get_position(struct Location &loc) const
 {
     loc.lat = _last_lat;
     loc.lng = _last_lng;
-    loc.alt = _baro.get_altitude() * 100 + _home.alt;
+    loc.alt = AP::baro().get_altitude() * 100 + _home.alt;
     loc.flags.relative_alt = 0;
     loc.flags.terrain_alt = 0;
     location_offset(loc, _position_offset_north, _position_offset_east);
@@ -1010,7 +1010,7 @@ void AP_AHRS_DCM::set_home(const Location &loc)
 //  a relative ground position to home in meters, Down
 void AP_AHRS_DCM::get_relative_position_D_home(float &posD) const
 {
-    posD = -_baro.get_altitude();
+    posD = -AP::baro().get_altitude();
 }
 
 /*
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 2200423ec6..561433a9f4 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -23,8 +23,8 @@
 
 class AP_AHRS_DCM : public AP_AHRS {
 public:
-    AP_AHRS_DCM(AP_InertialSensor &ins, AP_Baro &baro)
-        : AP_AHRS(ins, baro)
+    AP_AHRS_DCM(AP_InertialSensor &ins)
+        : AP_AHRS(ins)
         , _omega_I_sum_time(0.0f)
         , _renorm_val_sum(0.0f)
         , _renorm_val_count(0)
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 307304d877..5246b3c0a0 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -31,11 +31,10 @@ extern const AP_HAL::HAL& hal;
 
 // constructor
 AP_AHRS_NavEKF::AP_AHRS_NavEKF(AP_InertialSensor &ins,
-                               AP_Baro &baro,
                                NavEKF2 &_EKF2,
                                NavEKF3 &_EKF3,
                                Flags flags) :
-    AP_AHRS_DCM(ins, baro),
+    AP_AHRS_DCM(ins),
     EKF2(_EKF2),
     EKF3(_EKF3),
     _ekf2_started(false),
@@ -903,7 +902,7 @@ void AP_AHRS_NavEKF::get_relative_position_D_home(float &posD) const
     float originD;
     if (!get_relative_position_D_origin(originD) ||
         !get_origin(originLLH)) {
-        posD = -_baro.get_altitude();
+        posD = -AP::baro().get_altitude();
         return;
     }
 
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 5c45f91f52..2cb51c5071 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -44,7 +44,7 @@ public:
     };
 
     // Constructor
-    AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro,
+    AP_AHRS_NavEKF(AP_InertialSensor &ins,
                    NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags = FLAG_NONE);
 
     /* Do not allow copies */
diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
index 2f81a72f65..22590e5aea 100644
--- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
+++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
@@ -26,9 +26,9 @@ static AP_SerialManager serial_manager;
 class DummyVehicle {
 public:
     RangeFinder sonar{serial_manager, ROTATION_PITCH_270};
-    NavEKF2 EKF2{&ahrs, barometer, sonar};
-    NavEKF3 EKF3{&ahrs, barometer, sonar};
-    AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3,
+    NavEKF2 EKF2{&ahrs, sonar};
+    NavEKF3 EKF3{&ahrs, sonar};
+    AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3,
             AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 };