From a9b94ae13d1ab177bccc03beb4f0bed9a1b6de0e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 25 Apr 2018 09:09:26 +1000
Subject: [PATCH] AP_Mission: use ahrs singleton

---
 libraries/AP_Mission/AP_Mission.cpp                       | 7 ++++---
 libraries/AP_Mission/AP_Mission.h                         | 7 +------
 .../examples/AP_Mission_test/AP_Mission_test.cpp          | 8 +++++++-
 3 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index bf000d90f7..e39024ad6d 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -4,6 +4,7 @@
 #include "AP_Mission.h"
 #include <AP_Terrain/AP_Terrain.h>
 #include <GCS_MAVLink/GCS.h>
+#include <AP_AHRS/AP_AHRS.h>
 
 const AP_Param::GroupInfo AP_Mission::var_info[] = {
 
@@ -480,7 +481,7 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
         cmd.index = 0;
         cmd.id = MAV_CMD_NAV_WAYPOINT;
         cmd.p1 = 0;
-        cmd.content.location = _ahrs.get_home();
+        cmd.content.location = AP::ahrs().get_home();
     }else{
         // Find out proper location in memory by using the start_byte position + the index
         // we can load a command, we don't process it yet
@@ -546,7 +547,7 @@ void AP_Mission::write_home_to_storage()
 {
     Mission_Command home_cmd = {};
     home_cmd.id = MAV_CMD_NAV_WAYPOINT;
-    home_cmd.content.location = _ahrs.get_home();
+    home_cmd.content.location = AP::ahrs().get_home();
     write_cmd_to_storage(0,home_cmd);
 }
 
@@ -1715,7 +1716,7 @@ uint16_t AP_Mission::get_landing_sequence_start()
 {
     struct Location current_loc;
 
-    if (!_ahrs.get_position(current_loc)) {
+    if (!AP::ahrs().get_position(current_loc)) {
         return 0;
     }
 
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index 696d2ee458..b811e2cc79 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -18,7 +18,6 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
-#include <AP_AHRS/AP_AHRS.h>
 #include <StorageManager/StorageManager.h>
 
 // definitions
@@ -281,8 +280,7 @@ public:
     FUNCTOR_TYPEDEF(mission_complete_fn_t, void);
 
     // constructor
-    AP_Mission(AP_AHRS &ahrs, mission_cmd_fn_t cmd_start_fn, mission_cmd_fn_t cmd_verify_fn, mission_complete_fn_t mission_complete_fn) :
-        _ahrs(ahrs),
+    AP_Mission(mission_cmd_fn_t cmd_start_fn, mission_cmd_fn_t cmd_verify_fn, mission_complete_fn_t mission_complete_fn) :
         _cmd_start_fn(cmd_start_fn),
         _cmd_verify_fn(cmd_verify_fn),
         _mission_complete_fn(mission_complete_fn),
@@ -546,9 +544,6 @@ private:
     /// sanity checks that the masked fields are not NaN's or infinite
     static MAV_MISSION_RESULT sanity_check_params(const mavlink_mission_item_int_t& packet);
 
-    // references to external libraries
-    const AP_AHRS&   _ahrs;      // used only for home position
-
     // parameters
     AP_Int16                _cmd_total;  // total number of commands in the mission
     AP_Int8                 _restart;   // controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)
diff --git a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
index e920d451a7..2e4d9a0cde 100644
--- a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
+++ b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
@@ -5,6 +5,12 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Mission/AP_Mission.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_Compass/AP_Compass.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_AHRS/AP_AHRS_DCM.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
@@ -44,7 +50,7 @@ private:
     void run_replace_cmd_test();
     void run_max_cmd_test();
 
-    AP_Mission mission{ahrs,
+    AP_Mission mission{
             FUNCTOR_BIND_MEMBER(&MissionTest::start_cmd, bool, const AP_Mission::Mission_Command &),
             FUNCTOR_BIND_MEMBER(&MissionTest::verify_cmd, bool, const AP_Mission::Mission_Command &),
             FUNCTOR_BIND_MEMBER(&MissionTest::mission_complete, void)};