From 911a99b79e4187dae518c6be5e4a067d28419399 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 15 May 2019 14:09:13 +1000
Subject: [PATCH] AP_HAL: removed hal argument to EXPECT_DELAY_MS()

---
 libraries/AP_HAL/Scheduler.cpp |  8 +++++---
 libraries/AP_HAL/Scheduler.h   | 11 ++++-------
 2 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_HAL/Scheduler.cpp b/libraries/AP_HAL/Scheduler.cpp
index b8c85dc372..2c65c63065 100644
--- a/libraries/AP_HAL/Scheduler.cpp
+++ b/libraries/AP_HAL/Scheduler.cpp
@@ -3,6 +3,8 @@
 
 using namespace AP_HAL;
 
+extern const AP_HAL::HAL& hal;
+
 void Scheduler::register_delay_callback(AP_HAL::Proc proc,
                                         uint16_t min_time_ms)
 {
@@ -24,12 +26,12 @@ void Scheduler::call_delay_cb()
     _in_delay_callback = false;
 }
 
-ExpectDelay::ExpectDelay(const AP_HAL::HAL &hal, uint32_t ms) : _hal(hal)
+ExpectDelay::ExpectDelay(uint32_t ms)
 {
-    _hal.scheduler->expect_delay_ms(ms);
+    hal.scheduler->expect_delay_ms(ms);
 }
 
 ExpectDelay::~ExpectDelay()
 {
-    _hal.scheduler->expect_delay_ms(0);
+    hal.scheduler->expect_delay_ms(0);
 }
diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
index 4dbddea325..f66ea91921 100644
--- a/libraries/AP_HAL/Scheduler.h
+++ b/libraries/AP_HAL/Scheduler.h
@@ -127,13 +127,10 @@ private:
  */
 class ExpectDelay {
 public:
-    ExpectDelay(const AP_HAL::HAL &hal, uint32_t ms);
+    ExpectDelay(uint32_t ms);
     ~ExpectDelay();
-
-private:
-    const AP_HAL::HAL &_hal;
 };
 
-#define EXPECT_DELAY(hal, ms) DELAY_JOIN( hal, ms, __COUNTER__ )
-#define DELAY_JOIN( hal, ms, counter) _DO_DELAY_JOIN( hal, ms, counter )
-#define _DO_DELAY_JOIN( hal, ms, counter ) ExpectDelay _getdelay ## counter(hal, ms)
+#define EXPECT_DELAY_MS(ms) DELAY_JOIN( ms, __COUNTER__ )
+#define DELAY_JOIN( ms, counter) _DO_DELAY_JOIN( ms, counter )
+#define _DO_DELAY_JOIN( ms, counter ) ExpectDelay _getdelay ## counter(ms)