AP_RangeFinder: remove unused parameters from detect and constructors

libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp

@@ -39,8 +39,8 @@ volatile struct range *rangerpru;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_BBB_PRU::AP_RangeFinder_BBB_PRU(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
-    AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_ULTRASOUND)
+AP_RangeFinder_BBB_PRU::AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state) :
+    AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_ULTRASOUND)
 {
 }
 
@@ -48,7 +48,7 @@ AP_RangeFinder_BBB_PRU::AP_RangeFinder_BBB_PRU(RangeFinder &_ranger, uint8_t ins
    Stop PRU, load firmware (check if firmware is present), start PRU.
    If we get a result the sensor seems to be there.
 */
-bool AP_RangeFinder_BBB_PRU::detect(RangeFinder &_ranger, uint8_t instance)
+bool AP_RangeFinder_BBB_PRU::detect()
 {
     bool result = true;
     uint32_t mem_fd;

libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h

@@ -21,10 +21,10 @@ class AP_RangeFinder_BBB_PRU : public AP_RangeFinder_Backend
 {
 public:
     // constructor
-    AP_RangeFinder_BBB_PRU(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
+    AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state);
 
     // static detection function
-    static bool detect(RangeFinder &ranger, uint8_t instance);
+    static bool detect();
 
     // update state
     void update(void);

libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp

@@ -62,9 +62,8 @@ static const uint16_t waveform_mode1[32] = {
     1675, 1540, 1492, 1374, 1292
 };
 
-AP_RangeFinder_Bebop::AP_RangeFinder_Bebop(RangeFinder &_ranger,
-        uint8_t instance, RangeFinder::RangeFinder_State &_state) :
-    AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_ULTRASOUND),
+AP_RangeFinder_Bebop::AP_RangeFinder_Bebop(RangeFinder::RangeFinder_State &_state) :
+    AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_ULTRASOUND),
     _thread(new Linux::Thread(FUNCTOR_BIND_MEMBER(&AP_RangeFinder_Bebop::_loop, void)))
 {
     _init();
@@ -88,7 +87,7 @@ AP_RangeFinder_Bebop::~AP_RangeFinder_Bebop()
     _iio = nullptr;
 }
 
-bool AP_RangeFinder_Bebop::detect(RangeFinder &_ranger, uint8_t instance)
+bool AP_RangeFinder_Bebop::detect()
 {
     return true;
 }

libraries/AP_RangeFinder/AP_RangeFinder_Bebop.h

@@ -88,11 +88,10 @@ struct adc_capture {
 
 class AP_RangeFinder_Bebop : public AP_RangeFinder_Backend {
 public:
-    AP_RangeFinder_Bebop(RangeFinder &ranger,
-            uint8_t instance, RangeFinder::RangeFinder_State &_state);
+    AP_RangeFinder_Bebop(RangeFinder::RangeFinder_State &_state);
 
     ~AP_RangeFinder_Bebop(void);
-    static bool detect(RangeFinder &ranger, uint8_t instance);
+    static bool detect();
     void update(void);
 
 private:

libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp

@@ -24,10 +24,9 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder &_ranger, uint8_t instance,
-                                                               RangeFinder::RangeFinder_State &_state,
-                                                               AP_SerialManager &serial_manager) :
-    AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER)
+AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
+                                                   AP_SerialManager &serial_manager) :
+    AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
 {
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
     if (uart != nullptr) {
@@ -40,7 +39,7 @@ AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder &_ranger, uint8_t
    trying to take a reading on Serial. If we get a result the sensor is
    there.
 */
-bool AP_RangeFinder_LeddarOne::detect(RangeFinder &_ranger, uint8_t instance, AP_SerialManager &serial_manager)
+bool AP_RangeFinder_LeddarOne::detect(AP_SerialManager &serial_manager)
 {
     return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
 }

libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h

@@ -42,11 +42,11 @@ class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
 
 public:
     // constructor
-    AP_RangeFinder_LeddarOne(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state,
-                                   AP_SerialManager &serial_manager);
+    AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
+                             AP_SerialManager &serial_manager);
 
     // static detection function
-    static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager);
+    static bool detect(AP_SerialManager &serial_manager);
 
     // update state
     void update(void);

libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp

@@ -26,8 +26,8 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
-    : AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER)
+AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
+    : AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
     , _dev(std::move(dev)) {}
 
 /*
@@ -35,10 +35,10 @@ AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder &_ranger, u
    trying to take a reading on I2C. If we get a result the sensor is
    there.
 */
-AP_RangeFinder_Backend *AP_RangeFinder_LightWareI2C::detect(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
+AP_RangeFinder_Backend *AP_RangeFinder_LightWareI2C::detect(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
 {
     AP_RangeFinder_LightWareI2C *sensor
-        = new AP_RangeFinder_LightWareI2C(_ranger, instance, _state, std::move(dev));
+        = new AP_RangeFinder_LightWareI2C(_state, std::move(dev));
 
     if (!sensor) {
         delete sensor;

libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h

@@ -9,14 +9,15 @@ class AP_RangeFinder_LightWareI2C : public AP_RangeFinder_Backend
 
 public:
     // static detection function
-    static AP_RangeFinder_Backend *detect(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+    static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
+                                          AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
 
     // update state
     void update(void);
 
 private:
     // constructor
-    AP_RangeFinder_LightWareI2C(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+    AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
 
     void init();
     void timer();

libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp

@@ -25,10 +25,9 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder &_ranger, uint8_t instance,
-                                                               RangeFinder::RangeFinder_State &_state,
+AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
                                                                AP_SerialManager &serial_manager) :
-    AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER)
+    AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
 {
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
     if (uart != nullptr) {
@@ -41,7 +40,7 @@ AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder &_ran
    trying to take a reading on Serial. If we get a result the sensor is
    there.
 */
-bool AP_RangeFinder_LightWareSerial::detect(RangeFinder &_ranger, uint8_t instance, AP_SerialManager &serial_manager)
+bool AP_RangeFinder_LightWareSerial::detect(AP_SerialManager &serial_manager)
 {
     return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
 }

libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h

@@ -8,11 +8,11 @@ class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend
 
 public:
     // constructor
-    AP_RangeFinder_LightWareSerial(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state,
+    AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
                                    AP_SerialManager &serial_manager);
 
     // static detection function
-    static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager);
+    static bool detect(AP_SerialManager &serial_manager);
 
     // update state
     void update(void);

libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp

@@ -25,8 +25,8 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
-    AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_UNKNOWN)
+AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder::RangeFinder_State &_state) :
+    AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_UNKNOWN)
 {
     last_update_ms = AP_HAL::millis();
     distance_cm = 0;
@@ -36,7 +36,7 @@ AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder &_ranger, uint8_t ins
    detect if a MAVLink rangefinder is connected. We'll detect by
    checking a parameter.
 */
-bool AP_RangeFinder_MAVLink::detect(RangeFinder &_ranger, uint8_t instance)
+bool AP_RangeFinder_MAVLink::detect()
 {
     // Assume that if the user set the RANGEFINDER_TYPE parameter to MAVLink,
     // there is an attached MAVLink rangefinder

libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h

@@ -11,10 +11,10 @@ class AP_RangeFinder_MAVLink : public AP_RangeFinder_Backend
 
 public:
     // constructor
-    AP_RangeFinder_MAVLink(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
+    AP_RangeFinder_MAVLink(RangeFinder::RangeFinder_State &_state);
 
     // static detection function
-    static bool detect(RangeFinder &ranger, uint8_t instance);
+    static bool detect();
 
     // update state
     void update(void);

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp

@@ -35,8 +35,8 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state)
-    : AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_ULTRASOUND)
+AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state)
+    : AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_ULTRASOUND)
     , _dev(hal.i2c_mgr->get_device(1, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR))
 {
 }
@@ -46,11 +46,10 @@ AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder &_ranger,
    trying to take a reading on I2C. If we get a result the sensor is
    there.
 */
-AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder &_ranger, uint8_t instance,
-                                                             RangeFinder::RangeFinder_State &_state)
+AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder::RangeFinder_State &_state)
 {
     AP_RangeFinder_MaxsonarI2CXL *sensor
-        = new AP_RangeFinder_MaxsonarI2CXL(_ranger, instance, _state);
+        = new AP_RangeFinder_MaxsonarI2CXL(_state);
     if (!sensor) {
         return nullptr;
     }

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h

@@ -17,16 +17,14 @@ class AP_RangeFinder_MaxsonarI2CXL : public AP_RangeFinder_Backend
 {
 public:
     // static detection function
-    static AP_RangeFinder_Backend *detect(RangeFinder &ranger, uint8_t instance,
-                                          RangeFinder::RangeFinder_State &_state);
+    static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state);
 
     // update state
     void update(void);
 
 private:
     // constructor
-    AP_RangeFinder_MaxsonarI2CXL(RangeFinder &ranger, uint8_t instance,
-                                 RangeFinder::RangeFinder_State &_state);
+    AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state);
 
     bool _init(void);
     void _timer(void);

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp

@@ -29,10 +29,9 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder &_ranger, uint8_t instance,
-                                                                 RangeFinder::RangeFinder_State &_state,
+AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
                                                                  AP_SerialManager &serial_manager) :
-    AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_ULTRASOUND)
+    AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_ULTRASOUND)
 {
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
     if (uart != nullptr) {
@@ -45,7 +44,7 @@ AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder &_r
    trying to take a reading on Serial. If we get a result the sensor is
    there.
 */
-bool AP_RangeFinder_MaxsonarSerialLV::detect(RangeFinder &_ranger, uint8_t instance, AP_SerialManager &serial_manager)
+bool AP_RangeFinder_MaxsonarSerialLV::detect(AP_SerialManager &serial_manager)
 {
     return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
 }

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h

@@ -8,11 +8,11 @@ class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend
 
 public:
     // constructor
-    AP_RangeFinder_MaxsonarSerialLV(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state,
+    AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
                                    AP_SerialManager &serial_manager);
 
     // static detection function
-    static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager);
+    static bool detect(AP_SerialManager &serial_manager);
 
     // update state
     void update(void);

libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp

@@ -43,13 +43,10 @@ extern "C" {
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_PX4_PWM::AP_RangeFinder_PX4_PWM(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
-	AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_UNKNOWN),
-    _last_timestamp(0),
-    _last_pulse_time_ms(0),
-    _disable_time_ms(0),
-    _good_sample_count(0),
-    _last_sample_distance_cm(0)
+AP_RangeFinder_PX4_PWM::AP_RangeFinder_PX4_PWM(RangeFinder::RangeFinder_State &_state, AP_Int16 &powersave_range, float &_estimated_terrain_height) :
+	AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_UNKNOWN),
+    _powersave_range(powersave_range),
+    estimated_terrain_height(_estimated_terrain_height)
 {
     _fd = open(PWMIN0_DEVICE_PATH, O_RDONLY);
     if (_fd == -1) {
@@ -83,7 +80,7 @@ AP_RangeFinder_PX4_PWM::~AP_RangeFinder_PX4_PWM()
 /* 
    see if the PX4 driver is available
 */
-bool AP_RangeFinder_PX4_PWM::detect(RangeFinder &_ranger, uint8_t instance)
+bool AP_RangeFinder_PX4_PWM::detect()
 {
 #if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && \
     !defined(CONFIG_ARCH_BOARD_AEROFC_V1)

libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.h

@@ -21,13 +21,13 @@ class AP_RangeFinder_PX4_PWM : public AP_RangeFinder_Backend
 {
 public:
     // constructor
-    AP_RangeFinder_PX4_PWM(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
+    AP_RangeFinder_PX4_PWM(RangeFinder::RangeFinder_State &_state, AP_Int16 &powersave_range, float &_estimated_terrain_height);
 
     // destructor
     ~AP_RangeFinder_PX4_PWM(void);
     
     // static detection function
-    static bool detect(RangeFinder &ranger, uint8_t instance);
+    static bool detect();
 
     // update state
     void update(void);
@@ -39,4 +39,13 @@ private:
     uint32_t _disable_time_ms;
     uint32_t _good_sample_count;
     float _last_sample_distance_cm;
+
+    AP_Int16 &_powersave_range;
+    float &estimated_terrain_height;
+
+    // return true if we are beyond the power saving range
+    bool out_of_range(void) const {
+        return _powersave_range > 0 && estimated_terrain_height > _powersave_range;
+    }
+
 };

libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp

@@ -44,10 +44,10 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF(uint8_t bus, RangeFinder &_ranger, uint8_t instance,
+AP_RangeFinder_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF(uint8_t bus,
                                                              RangeFinder::RangeFinder_State &_state,
                                                              RangeFinder::RangeFinder_Type _rftype)
-    : AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER)
+    : AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
     , _dev(hal.i2c_mgr->get_device(bus, LL40LS_ADDR))
     , rftype(_rftype)
 {
@@ -57,12 +57,12 @@ AP_RangeFinder_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF(uint8_t bus, RangeF
    detect if a PulsedLight rangefinder is connected. We'll detect by
    look for the version registers
 */
-AP_RangeFinder_Backend *AP_RangeFinder_PulsedLightLRF::detect(uint8_t bus, RangeFinder &_ranger, uint8_t instance,
+AP_RangeFinder_Backend *AP_RangeFinder_PulsedLightLRF::detect(uint8_t bus,
                                                               RangeFinder::RangeFinder_State &_state,
                                                               RangeFinder::RangeFinder_Type rftype)
 {
     AP_RangeFinder_PulsedLightLRF *sensor
-        = new AP_RangeFinder_PulsedLightLRF(bus, _ranger, instance, _state, rftype);
+        = new AP_RangeFinder_PulsedLightLRF(bus, _state, rftype);
     if (!sensor ||
         !sensor->init()) {
         delete sensor;

libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h

@@ -19,7 +19,7 @@ class AP_RangeFinder_PulsedLightLRF : public AP_RangeFinder_Backend
 
 public:
     // static detection function
-    static AP_RangeFinder_Backend *detect(uint8_t bus, RangeFinder &ranger, uint8_t instance,
+    static AP_RangeFinder_Backend *detect(uint8_t bus,
                                           RangeFinder::RangeFinder_State &_state,
                                           RangeFinder::RangeFinder_Type rftype);
 
@@ -29,7 +29,7 @@ public:
 
 private:
     // constructor
-    AP_RangeFinder_PulsedLightLRF(uint8_t bus, RangeFinder &ranger, uint8_t instance,
+    AP_RangeFinder_PulsedLightLRF(uint8_t bus,
                                   RangeFinder::RangeFinder_State &_state,
                                   RangeFinder::RangeFinder_Type rftype);
 

libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp

@@ -216,8 +216,8 @@ const AP_RangeFinder_VL53L0X::RegData AP_RangeFinder_VL53L0X::tuning_data[] =
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_VL53L0X::AP_RangeFinder_VL53L0X(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev)
-    : AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER)
+AP_RangeFinder_VL53L0X::AP_RangeFinder_VL53L0X(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev)
+    : AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
     , dev(std::move(_dev)) {}
 
 
@@ -226,10 +226,10 @@ AP_RangeFinder_VL53L0X::AP_RangeFinder_VL53L0X(RangeFinder &_ranger, uint8_t ins
    trying to take a reading on I2C. If we get a result the sensor is
    there.
 */
-AP_RangeFinder_Backend *AP_RangeFinder_VL53L0X::detect(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
+AP_RangeFinder_Backend *AP_RangeFinder_VL53L0X::detect(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
 {
     AP_RangeFinder_VL53L0X *sensor
-        = new AP_RangeFinder_VL53L0X(_ranger, instance, _state, std::move(dev));
+        = new AP_RangeFinder_VL53L0X(_state, std::move(dev));
 
     if (!sensor) {
         delete sensor;

libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h

@@ -9,14 +9,14 @@ class AP_RangeFinder_VL53L0X : public AP_RangeFinder_Backend
 
 public:
     // static detection function
-    static AP_RangeFinder_Backend *detect(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+    static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
 
     // update state
     void update(void);
 
 private:
     // constructor
-    AP_RangeFinder_VL53L0X(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+    AP_RangeFinder_VL53L0X(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
 
     void init();
     void timer();

libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp

@@ -31,8 +31,8 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_analog::AP_RangeFinder_analog(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
-    AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_UNKNOWN)
+AP_RangeFinder_analog::AP_RangeFinder_analog(RangeFinder::RangeFinder_State &_state) :
+    AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_UNKNOWN)
 {
     source = hal.analogin->channel(_state.pin);
     if (source == nullptr) {
@@ -50,9 +50,9 @@ AP_RangeFinder_analog::AP_RangeFinder_analog(RangeFinder &_ranger, uint8_t insta
    can do is check if the pin number is valid. If it is, then assume
    that the device is connected
 */
-bool AP_RangeFinder_analog::detect(RangeFinder &_ranger, uint8_t instance)
+bool AP_RangeFinder_analog::detect(RangeFinder::RangeFinder_State &_state)
 {
-    if (_ranger.state[instance].pin != -1) {
+    if (_state.pin != -1) {
         return true;
     }
     return false;

libraries/AP_RangeFinder/AP_RangeFinder_analog.h

@@ -7,10 +7,10 @@ class AP_RangeFinder_analog : public AP_RangeFinder_Backend
 {
 public:
     // constructor
-    AP_RangeFinder_analog(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
+    AP_RangeFinder_analog(RangeFinder::RangeFinder_State &_state);
 
     // static detection function
-    static bool detect(RangeFinder &ranger, uint8_t instance);
+    static bool detect(RangeFinder::RangeFinder_State &_state);
 
     // update state
     void update(void);

libraries/AP_RangeFinder/AP_RangeFinder_trone.cpp

@@ -35,8 +35,8 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_trone::AP_RangeFinder_trone(uint8_t bus, RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state)
-    : AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER)
+AP_RangeFinder_trone::AP_RangeFinder_trone(uint8_t bus, RangeFinder::RangeFinder_State &_state)
+    : AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
     , dev(hal.i2c_mgr->get_device(bus, TRONE_I2C_ADDR))
 {
 }
@@ -46,10 +46,10 @@ AP_RangeFinder_trone::AP_RangeFinder_trone(uint8_t bus, RangeFinder &_ranger, ui
    trying to take a reading on I2C. If we get a result the sensor is
    there.
 */
-AP_RangeFinder_Backend *AP_RangeFinder_trone::detect(uint8_t bus, RangeFinder &_ranger, uint8_t instance,
+AP_RangeFinder_Backend *AP_RangeFinder_trone::detect(uint8_t bus,
                                                      RangeFinder::RangeFinder_State &_state)
 {
-    AP_RangeFinder_trone *sensor = new AP_RangeFinder_trone(bus, _ranger, instance, _state);
+    AP_RangeFinder_trone *sensor = new AP_RangeFinder_trone(bus, _state);
     if (!sensor) {
         return nullptr;
     }

libraries/AP_RangeFinder/AP_RangeFinder_trone.h

@@ -8,7 +8,7 @@ class AP_RangeFinder_trone : public AP_RangeFinder_Backend
 {
 public:
     // static detection function
-    static AP_RangeFinder_Backend *detect(uint8_t bus, RangeFinder &ranger, uint8_t instance,
+    static AP_RangeFinder_Backend *detect(uint8_t bus,
                                           RangeFinder::RangeFinder_State &_state);
 
     // update state
@@ -16,8 +16,7 @@ public:
 
 private:
     // constructor
-    AP_RangeFinder_trone(uint8_t bus, RangeFinder &ranger, uint8_t instance,
-                         RangeFinder::RangeFinder_State &_state);
+    AP_RangeFinder_trone(uint8_t bus, RangeFinder::RangeFinder_State &_state);
 
     bool measure(void);
     bool collect(uint16_t &distance_cm);

libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp

@@ -25,10 +25,9 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder &_ranger, uint8_t instance,
-                                                             RangeFinder::RangeFinder_State &_state,
-                                                             AP_SerialManager &serial_manager) :
-    AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_RADAR)
+AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
+                                                 AP_SerialManager &serial_manager) :
+    AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_RADAR)
 {
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0);
     if (uart != nullptr) {
@@ -41,7 +40,7 @@ AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder &_ranger, uint8_t i
    trying to take a reading on Serial. If we get a result the sensor is
    there.
 */
-bool AP_RangeFinder_uLanding::detect(RangeFinder &_ranger, uint8_t instance, AP_SerialManager &serial_manager)
+bool AP_RangeFinder_uLanding::detect(AP_SerialManager &serial_manager)
 {
     return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0) != nullptr;
 }

libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h

@@ -8,11 +8,11 @@ class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend
 
 public:
     // constructor
-	AP_RangeFinder_uLanding(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state,
-                                   AP_SerialManager &serial_manager);
+	AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
+                            AP_SerialManager &serial_manager);
 
     // static detection function
-    static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager);
+    static bool detect(AP_SerialManager &serial_manager);
 
     // update state
     void update(void);

libraries/AP_RangeFinder/RangeFinder.cpp

@@ -609,91 +609,91 @@ void RangeFinder::detect_instance(uint8_t instance)
     switch (_type) {
     case RangeFinder_TYPE_PLI2C:
     case RangeFinder_TYPE_PLI2CV3:
-        if (!_add_backend(AP_RangeFinder_PulsedLightLRF::detect(1, *this, instance, state[instance], _type))) {
-            _add_backend(AP_RangeFinder_PulsedLightLRF::detect(0, *this, instance, state[instance], _type));
+        if (!_add_backend(AP_RangeFinder_PulsedLightLRF::detect(1, state[instance], _type))) {
+            _add_backend(AP_RangeFinder_PulsedLightLRF::detect(0, state[instance], _type));
         }
         break;
     case RangeFinder_TYPE_MBI2C:
-        _add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(*this, instance, state[instance]));
+        _add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance]));
         break;
     case RangeFinder_TYPE_LWI2C:
         if (state[instance].address) {
-            _add_backend(AP_RangeFinder_LightWareI2C::detect(*this, instance, state[instance],
+            _add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance],
                 hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, state[instance].address)));
         }
         break;
     case RangeFinder_TYPE_TRONE:
-        if (!_add_backend(AP_RangeFinder_trone::detect(0, *this, instance, state[instance]))) {
-            _add_backend(AP_RangeFinder_trone::detect(1, *this, instance, state[instance]));
+        if (!_add_backend(AP_RangeFinder_trone::detect(0, state[instance]))) {
+            _add_backend(AP_RangeFinder_trone::detect(1, state[instance]));
         }
         break;
     case RangeFinder_TYPE_VL53L0X:
-        if (!_add_backend(AP_RangeFinder_VL53L0X::detect(*this, instance, state[instance],
+        if (!_add_backend(AP_RangeFinder_VL53L0X::detect(state[instance],
                                                          hal.i2c_mgr->get_device(1, 0x29)))) {
-            _add_backend(AP_RangeFinder_VL53L0X::detect(*this, instance, state[instance],
+            _add_backend(AP_RangeFinder_VL53L0X::detect(state[instance],
                                                         hal.i2c_mgr->get_device(0, 0x29)));
         }
         break;
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4  || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
     case RangeFinder_TYPE_PX4_PWM:
-        if (AP_RangeFinder_PX4_PWM::detect(*this, instance)) {
+        if (AP_RangeFinder_PX4_PWM::detect()) {
             state[instance].instance = instance;
-            drivers[instance] = new AP_RangeFinder_PX4_PWM(*this, instance, state[instance]);
+            drivers[instance] = new AP_RangeFinder_PX4_PWM(state[instance], _powersave_range, estimated_terrain_height);
         }
         break;
 #endif
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
     case RangeFinder_TYPE_BBB_PRU:
-        if (AP_RangeFinder_BBB_PRU::detect(*this, instance)) {
+        if (AP_RangeFinder_BBB_PRU::detect()) {
             state[instance].instance = instance;
-            drivers[instance] = new AP_RangeFinder_BBB_PRU(*this, instance, state[instance]);
+            drivers[instance] = new AP_RangeFinder_BBB_PRU(state[instance]);
         }
         break;
 #endif
     case RangeFinder_TYPE_LWSER:
-        if (AP_RangeFinder_LightWareSerial::detect(*this, instance, serial_manager)) {
+        if (AP_RangeFinder_LightWareSerial::detect(serial_manager)) {
             state[instance].instance = instance;
-            drivers[instance] = new AP_RangeFinder_LightWareSerial(*this, instance, state[instance], serial_manager);
+            drivers[instance] = new AP_RangeFinder_LightWareSerial(state[instance], serial_manager);
         }
         break;
     case RangeFinder_TYPE_LEDDARONE:
-        if (AP_RangeFinder_LeddarOne::detect(*this, instance, serial_manager)) {
+        if (AP_RangeFinder_LeddarOne::detect(serial_manager)) {
             state[instance].instance = instance;
-            drivers[instance] = new AP_RangeFinder_LeddarOne(*this, instance, state[instance], serial_manager);
+            drivers[instance] = new AP_RangeFinder_LeddarOne(state[instance], serial_manager);
         }
         break;
     case RangeFinder_TYPE_ULANDING:
-        if (AP_RangeFinder_uLanding::detect(*this, instance, serial_manager)) {
+        if (AP_RangeFinder_uLanding::detect(serial_manager)) {
             state[instance].instance = instance;
-            drivers[instance] = new AP_RangeFinder_uLanding(*this, instance, state[instance], serial_manager);
+            drivers[instance] = new AP_RangeFinder_uLanding(state[instance], serial_manager);
         }
         break;
 #if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && defined(HAVE_LIBIIO)
     case RangeFinder_TYPE_BEBOP:
-        if (AP_RangeFinder_Bebop::detect(*this, instance)) {
+        if (AP_RangeFinder_Bebop::detect()) {
             state[instance].instance = instance;
-            drivers[instance] = new AP_RangeFinder_Bebop(*this, instance, state[instance]);
+            drivers[instance] = new AP_RangeFinder_Bebop(state[instance]);
         }
         break;
 #endif
     case RangeFinder_TYPE_MAVLink:
-        if (AP_RangeFinder_MAVLink::detect(*this, instance)) {
+        if (AP_RangeFinder_MAVLink::detect()) {
             state[instance].instance = instance;
-            drivers[instance] = new AP_RangeFinder_MAVLink(*this, instance, state[instance]);
+            drivers[instance] = new AP_RangeFinder_MAVLink(state[instance]);
         }
         break;
     case RangeFinder_TYPE_MBSER:
-        if (AP_RangeFinder_MaxsonarSerialLV::detect(*this, instance, serial_manager)) {
+        if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_manager)) {
             state[instance].instance = instance;
-            drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(*this, instance, state[instance], serial_manager);
+            drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(state[instance], serial_manager);
         }
         break;
     case RangeFinder_TYPE_ANALOG:
         // note that analog will always come back as present if the pin is valid
-        if (AP_RangeFinder_analog::detect(*this, instance)) {
+        if (AP_RangeFinder_analog::detect(state[instance])) {
             state[instance].instance = instance;
-            drivers[instance] = new AP_RangeFinder_analog(*this, instance, state[instance]);
+            drivers[instance] = new AP_RangeFinder_analog(state[instance]);
         }
         break;
     default:

libraries/AP_RangeFinder/RangeFinder.h

@@ -32,7 +32,6 @@ class RangeFinder
 {
 public:
     friend class AP_RangeFinder_Backend;
-    friend class AP_RangeFinder_analog; // bodgy detect function
 
     RangeFinder(AP_SerialManager &_serial_manager, enum Rotation orientation_default);
 

libraries/AP_RangeFinder/RangeFinder_Backend.cpp

@@ -24,8 +24,7 @@ extern const AP_HAL::HAL& hal;
   base class constructor. 
   This incorporates initialisation as well.
 */
-AP_RangeFinder_Backend::AP_RangeFinder_Backend(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, MAV_DISTANCE_SENSOR _sensor_type) :
-        ranger(_ranger),
+AP_RangeFinder_Backend::AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state, MAV_DISTANCE_SENSOR _sensor_type) :
         state(_state),
         sensor_type(_sensor_type)
 {

libraries/AP_RangeFinder/RangeFinder_Backend.h

@@ -22,7 +22,8 @@ class AP_RangeFinder_Backend
 {
 public:
     // constructor. This incorporates initialisation as well.
-	AP_RangeFinder_Backend(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, MAV_DISTANCE_SENSOR _sensor_type);
+	AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state,
+                           MAV_DISTANCE_SENSOR _sensor_type);
 
     // we declare a virtual destructor so that RangeFinder drivers can
     // override with a custom destructor if need be
@@ -31,11 +32,6 @@ public:
     // update the state structure
     virtual void update() = 0;
 
-    // return true if we are beyond the power saving range
-    bool out_of_range(void) const {
-        return ranger._powersave_range > 0 && ranger.estimated_terrain_height > ranger._powersave_range;
-    }
-
     MAV_DISTANCE_SENSOR get_sensor_type() const {
         return sensor_type;
     }
@@ -50,7 +46,6 @@ protected:
     // set status and update valid_count
     void set_status(RangeFinder::RangeFinder_Status status);
 
-    RangeFinder &ranger;
     RangeFinder::RangeFinder_State &state;
     MAV_DISTANCE_SENSOR sensor_type;