From 9023e6eb7d84cc6973967b13dcefcb1ca044d1b7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Feb 2019 18:39:45 +1100
Subject: [PATCH] AP_Frsky_Telem: use rangefinder singleton

---
 libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp | 9 +++------
 libraries/AP_Frsky_Telem/AP_Frsky_Telem.h   | 4 +---
 2 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
index 2504b0ad8e..bc0f9d3f82 100644
--- a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
+++ b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
@@ -25,6 +25,7 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
 #include <GCS_MAVLink/GCS.h>
 
 #include <stdio.h>
@@ -33,11 +34,6 @@ extern const AP_HAL::HAL& hal;
 
 ObjectArray<mavlink_statustext_t> AP_Frsky_Telem::_statustext_queue(FRSKY_TELEM_PAYLOAD_STATUS_CAPACITY);
 
-//constructor
-AP_Frsky_Telem::AP_Frsky_Telem(const RangeFinder &rng) :
-    _rng(rng)
-    {}
-
 /*
  * init - perform required initialisation
  */
@@ -785,6 +781,7 @@ uint32_t AP_Frsky_Telem::calc_velandyaw(void)
 uint32_t AP_Frsky_Telem::calc_attiandrng(void)
 {
     const AP_AHRS &_ahrs = AP::ahrs();
+    const RangeFinder *_rng = RangeFinder::get_singleton();
 
     uint32_t attiandrng;
 
@@ -793,7 +790,7 @@ uint32_t AP_Frsky_Telem::calc_attiandrng(void)
     // pitch from [-9000;9000] centidegrees to unsigned .2 degree increments [0;900] (just in case, limit to 1023 (0x3FF) since the value is stored on 10 bits)
     attiandrng |= ((uint16_t)roundf((_ahrs.pitch_sensor + 9000) * 0.05f) & ATTIANDRNG_PITCH_LIMIT)<<ATTIANDRNG_PITCH_OFFSET;
     // rangefinder measurement in cm
-    attiandrng |= prep_number(_rng.distance_cm_orient(ROTATION_PITCH_270), 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
+    attiandrng |= prep_number(_rng ? _rng->distance_cm_orient(ROTATION_PITCH_270) : 0, 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
     return attiandrng;
 }
 
diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
index 25045fd07a..161fa57945 100644
--- a/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
+++ b/libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
@@ -16,7 +16,6 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Notify/AP_Notify.h>
-#include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_HAL/utility/RingBuffer.h>
 
@@ -114,7 +113,7 @@ for FrSky SPort Passthrough
 
 class AP_Frsky_Telem {
 public:
-    AP_Frsky_Telem(const RangeFinder &rng);
+    AP_Frsky_Telem() {}
 
     /* Do not allow copies */
     AP_Frsky_Telem(const AP_Frsky_Telem &other) = delete;
@@ -146,7 +145,6 @@ public:
     void set_frame_string(const char *string) { _frame_string = string; }
 
 private:
-    const RangeFinder &_rng;
     AP_HAL::UARTDriver *_port;                  // UART used to send data to FrSky receiver
     AP_SerialManager::SerialProtocol _protocol; // protocol used - detected using SerialManager's SERIAL#_PROTOCOL parameter
     bool _initialised_uart;