Rover: remove rcmap member from AP_AdvancedFailsafe

Also correct constructor for barometer

Also make it compile again

APMrover2/Parameters.cpp

@@ -562,7 +562,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 ParametersG2::ParametersG2(void)
     :
 #if ADVANCED_FAILSAFE == ENABLED
-    afs(rover.mission, rover.barometer, rover.gps, rover.rcmap),
+    afs(rover.mission, rover.gps),
 #endif
     beacon(rover.serial_manager),
     motors(rover.ServoRelayEvents),

APMrover2/afs_rover.cpp

@@ -7,8 +7,8 @@
 #if ADVANCED_FAILSAFE == ENABLED
 
 // Constructor
-AP_AdvancedFailsafe_Rover::AP_AdvancedFailsafe_Rover(AP_Mission &_mission, const AP_GPS &_gps, const RCMapper &_rcmap) :
-    AP_AdvancedFailsafe(_mission, _gps, _rcmap)
+AP_AdvancedFailsafe_Rover::AP_AdvancedFailsafe_Rover(AP_Mission &_mission, const AP_GPS &_gps) :
+    AP_AdvancedFailsafe(_mission, _gps)
 {}
 
 

APMrover2/afs_rover.h

@@ -27,7 +27,7 @@
 class AP_AdvancedFailsafe_Rover : public AP_AdvancedFailsafe
 {
 public:
-    AP_AdvancedFailsafe_Rover(AP_Mission &_mission, const AP_GPS &_gps, const RCMapper &_rcmap);
+    AP_AdvancedFailsafe_Rover(AP_Mission &_mission, const AP_GPS &_gps);
 
     // called to set all outputs to termination state
     void terminate_vehicle(void) override;

APMrover2/failsafe.cpp

@@ -123,7 +123,7 @@ void Rover::handle_battery_failsafe(const char* type_str, const int8_t action)
 #if ADVANCED_FAILSAFE == ENABLED
                 char battery_type_str[17];
                 snprintf(battery_type_str, 17, "%s battery", type_str);
-                afs.gcs_terminate(true, battery_type_str);
+                g2.afs.gcs_terminate(true, battery_type_str);
 #else
                 disarm_motors();
 #endif // ADVANCED_FAILSAFE == ENABLED