From 2331232bdd26a439474106bd82bc110dbfc4126f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 29 Mar 2019 21:45:49 +1100
Subject: [PATCH] RC_Channel: remove static override_timeout

---
 libraries/RC_Channel/RC_Channel.cpp  | 2 +-
 libraries/RC_Channel/RC_Channel.h    | 5 ++++-
 libraries/RC_Channel/RC_Channels.cpp | 3 ---
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 772a80f99c..4569f4141c 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -353,7 +353,7 @@ bool RC_Channel::has_override() const
         return false;
     }
 
-    const float override_timeout_ms = RC_Channels::override_timeout->get() * 1e3f;
+    const float override_timeout_ms = rc().override_timeout_ms();
     return is_positive(override_timeout_ms) && ((AP_HAL::millis() - last_override_time) < (uint32_t)override_timeout_ms);
 }
 
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 08ef6114a7..9a25c863ca 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -342,6 +342,10 @@ public:
         return _options & uint32_t(Option::IGNORE_RECEIVER);
     }
 
+    float override_timeout_ms() const {
+        return _override_timeout.get() * 1e3f;
+    }
+
 protected:
 
     enum class Option {
@@ -356,7 +360,6 @@ private:
     static RC_Channel *channels;
 
     static bool has_new_overrides;
-    static AP_Float *override_timeout;
     AP_Float _override_timeout;
     AP_Int32  _options;
 
diff --git a/libraries/RC_Channel/RC_Channels.cpp b/libraries/RC_Channel/RC_Channels.cpp
index c003dd40d7..3f9058d790 100644
--- a/libraries/RC_Channel/RC_Channels.cpp
+++ b/libraries/RC_Channel/RC_Channels.cpp
@@ -29,15 +29,12 @@ extern const AP_HAL::HAL& hal;
 #include "RC_Channel.h"
 
 bool RC_Channels::has_new_overrides;
-AP_Float *RC_Channels::override_timeout;
 
 /*
   channels group object constructor
  */
 RC_Channels::RC_Channels(void)
 {
-    override_timeout = &_override_timeout;
-
     // set defaults from the parameter table
     AP_Param::setup_object_defaults(this, var_info);