From f21cddcf0f696ea365991756d185ee623bc8daa4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 30 Jul 2021 22:25:40 +1000
Subject: [PATCH] ArduCopter: use mission singleton inside AP_AdvancedFailsafe

---
 ArduCopter/Parameters.cpp | 2 +-
 ArduCopter/afs_copter.cpp | 6 ------
 ArduCopter/afs_copter.h   | 3 ++-
 3 files changed, 3 insertions(+), 8 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 811311d316..d6eef8a068 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1094,7 +1094,7 @@ ParametersG2::ParametersG2(void)
     , proximity()
 #endif
 #if ADVANCED_FAILSAFE == ENABLED
-    ,afs(copter.mode_auto.mission)
+    ,afs()
 #endif
 #if MODE_SMARTRTL_ENABLED == ENABLED
     ,smart_rtl()
diff --git a/ArduCopter/afs_copter.cpp b/ArduCopter/afs_copter.cpp
index efe6a84a3b..2eb2c1db14 100644
--- a/ArduCopter/afs_copter.cpp
+++ b/ArduCopter/afs_copter.cpp
@@ -6,12 +6,6 @@
 
 #if ADVANCED_FAILSAFE == ENABLED
 
-// Constructor
-AP_AdvancedFailsafe_Copter::AP_AdvancedFailsafe_Copter(AP_Mission &_mission) :
-    AP_AdvancedFailsafe(_mission)
-{}
-
-
 /*
   setup radio_out values for all channels to termination values
  */
diff --git a/ArduCopter/afs_copter.h b/ArduCopter/afs_copter.h
index 04365da682..fd73351973 100644
--- a/ArduCopter/afs_copter.h
+++ b/ArduCopter/afs_copter.h
@@ -27,7 +27,8 @@
 class AP_AdvancedFailsafe_Copter : public AP_AdvancedFailsafe
 {
 public:
-    AP_AdvancedFailsafe_Copter(AP_Mission &_mission);
+
+    using AP_AdvancedFailsafe::AP_AdvancedFailsafe;
 
     // called to set all outputs to termination state
     void terminate_vehicle(void) override;